Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search

Ata, Atef A and Myo, ThiRein (2005) Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search. International Journal of Advanced Robotic Systems, 2 (3). pp. 239-244. ISSN 1729-8806

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Abstract

Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.

Item Type:	Article (Journal)
Additional Information:	3846/31348
Uncontrolled Keywords:	optimal trajectory, redundant, pattern search, genetic algorithms
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Nor Fathiah Jumiran (Part Time)
Date Deposited:	14 Aug 2013 15:55
Last Modified:	20 Aug 2013 14:33
URI:	http://irep.iium.edu.my/id/eprint/31348

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