No abstract

No 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 three-degree 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.