A direct variational method for planning monotonically optimal paths for redundant manipulators in constrained workspaces

Shukla, Ashwini; Singla, Ekta; Wahi, Pankaj; DasGupta, Bhaskar

doi:10.1016/j.robot.2012.08.012

Cited by 42 publications

(26 citation statements)

References 30 publications

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“…To find the next solution, the inverse Jacobian matrix is used to convert the position error to the error of the joint variable. Of course, other algorithms can be found to solve this problem by using particle swarm optimization [8], direct variational method [9], and other methods that consider this problem as multiobjective optimization problems [10].…”

Section: Related Workmentioning

confidence: 99%

The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface

Diao

Chen

et al. 2017

Mathematical Problems in Engineering

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The intelligent manufacturing system (IMS) is widely used in the surface machining of the workpiece. In the process of ceramic surface grinding, the intelligent machine (manipulator) in IMS is required to automatically plan the collision avoidance trajectory in a complex environment. This paper presents an optimal trajectory planning method of the use of redundant manipulators in the surface grinding of ceramic billet, which is based on trajectory evaluation. The collision avoidance trajectory can be optimized, taking into account several parameters in the trajectory, including the length of the collision avoidance path, the weighted sum of the strokes of all joints, and the duration of the collision avoidance trajectory. Firstly, get the planning task. Secondly, set the planning parameters and obtain a number of collision avoidance trajectories. Finally, the evaluation function is used to evaluate the collision avoidance trajectories and get the optimal collision avoidance trajectory. The performance of the proposed optimal collision avoidance trajectory planning method is validated in different evaluation functions.

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Section: Related Workmentioning

confidence: 99%

The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface

Diao

Chen

et al. 2017

Mathematical Problems in Engineering

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“…Multi-objective Genetic Algorithm had been applied to handle the highly constrained environments and to preserve a good exploration space. The author's team had also explored the application of Variational principle in the optimal path planning of serial manipulators, working in cluttered workspaces (Shukla et al 2013). The approach involves formulating the path planning problem as a constrained minimization of a functional representing the total joint movement over the complete path.…”

Section: Evolutionary Robotics Designmentioning

confidence: 99%

Evolutionary robotics in two decades: A review

Gupta

Singla

2015

Sadhana

Self Cite

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Evolutionary robotics (ER) has emerged as a fast growing field in the last two decades and has earned the attention of a number of researchers. Principles of biological evolution are applied in the form of evolutionary techniques for solving the complicated problems in the areas of robotic design and control. The diversity and the intensity of this growing field is presented in this paper through the contributions made by several researchers in the categories of robot controller design, robot body design, co-evolution of body and brain and in transforming the evolved robots in physical reality. The paper discusses some of the recent achievements in each of these fields along with some expected applications which are likely to motivate the future research. For the quick reference of the readers, a digest of all the works is presented in the paper, spanning the years and the areas of the research contributions.

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“…More general criteria can be used in smoothing techniques [18][19][20], although the optimization is still local. Globally-optimal paths can be approximated in particular problems using variational methods [21] or in general problems combining the construction of an RRT with stochastic optimization [22]. However, in the latter case, the difference between the obtained solution and the optimal path can be large in some cases, and it is not reduced over time.…”

Section: Related Workmentioning

confidence: 99%

Efficient asymptotically-optimal path planning on manifolds

Jaillet

Porta

2013

Robotics and Autonomous Systems

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This paper presents an efficient approach for asymptotically-optimal path planning on implicitly-defined configuration spaces. Recently, several asymptotically-optimal path planners have been introduced, but they typically exhibit slow convergence rates. Moreover, these planners can not operate on the configuration spaces that appear in the presence of kinematic or contact constraints, such as when manipulating an object with two arms or with a multifingered hand. In these cases, the configuration space usually becomes an implicit manifold embedded in a higher-dimensional joint ambient space. Existing sampling-based path planners on manifolds focus on finding a feasible solution, but they do not optimize the quality of the path in any sense and, thus, the returned solution is usually not adequate for direct execution. In this paper, we adapt several techniques to accelerate the convergence of the asymptotically-optimal planners and we use higher-dimensional continuation tools to deal with the case of implicitly-defined configuration spaces. The performance of the proposed approach is evaluated through various experiments.

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A direct variational method for planning monotonically optimal paths for redundant manipulators in constrained workspaces

Cited by 42 publications

References 30 publications

The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface

The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface

Evolutionary robotics in two decades: A review

Efficient asymptotically-optimal path planning on manifolds

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