International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Global Optimal Approach for Robot Kinematics Design using the Grid Method

  • Park Joon-Young (Korea Electric Power Research Institute) ;
  • Chang Pyung-Hun (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kim Jin-Oh (Department of Information and Control Engineering, Kwangwoon University)
  • Published : 2006.10.01
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Abstract

In a previous research, we presented the Grid Method and confirmed it as a systematic and efficient problem formulation method for the task-oriented design of robot kinematics. However, our previous research was limited in two ways. First, it gave only a local optimum due to its use of a local optimization technique. Second, it used constant weights for a cost function chosen by the manual weights tuning algorithm, thereby showing low efficiency in finding an optimal solution. To overcome these two limitations, therefore, this paper presents a global optimization technique and an adaptive weights tuning algorithm to solve a formulated problem using the Grid Method. The efficiencies of the proposed algorithms have been confirmed through the kinematic design examples of various robot manipulators.

Keywords

References

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