Controlled infeasibility for physically feasible optimal motion planning of manipulators

Joo H. Kim, Chang B. Joo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this presentation, infeasible solutions of the optimal motion planning problems are treated through constraint prioritization and associated weight functions. The merit function and elastic mode of a sequential quadratic programming algorithm are used as main driving formulations. In the proposed multiple-loop iterative algorithm, constraints are first normalized according to the current values at every certain number of iterations and then the priority weights are assigned. The algorithm was demonstrated using a threedegree of freedom planar manipulator for two problems such as obstacle avoidance and excessive external load for static configuration and a dynamic motion. The results of those two examples show reliable and physically consistent manipulator configurations which demonstrate the valid formulation of the prioritized constraints.

Original languageEnglish (US)
Title of host publicationASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
Pages1339-1345
Number of pages7
EditionPARTS A AND B
DOIs
StatePublished - 2012
EventASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 - Chicago, IL, United States
Duration: Aug 12 2012Aug 12 2012

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume4

Other

OtherASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
CountryUnited States
CityChicago, IL
Period8/12/128/12/12

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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  • Cite this

    Kim, J. H., & Joo, C. B. (2012). Controlled infeasibility for physically feasible optimal motion planning of manipulators. In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 (PARTS A AND B ed., pp. 1339-1345). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 4, No. PARTS A AND B). https://doi.org/10.1115/DETC2012-71342