OPTIMIZATION-BASED APPROACH TO PATH PLANNING FOR CLOSED CHAIN ROBOT SYSTEMS

被引：19
作者：
Szynkiewicz, Wojciech [1 ]
Blaszczyk, Jacek [2 ]
机构：
[1] Warsaw Univ Technol, Inst Control & Computat Engn, PL-00665 Warsaw, Poland
[2] Res & Acad Comp Network NASK, PL-02796 Warsaw, Poland
来源：
INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE | 2011年 / 21卷 / 04期
关键词：
closed chain; path planning; nonlinear optimization; ALGORITHM;
D O I：
10.2478/v10006-011-0052-8
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An application of advanced optimization techniques to solve the path planning problem for closed chain robot systems is proposed. The approach to path planning is formulated as a "quasi-dynamic" NonLinear Programming ( NLP) problem with equality and inequality constraints in terms of the joint variables. The essence of the method is to find joint paths which satisfy the given constraints and minimize the proposed performance index. For numerical solution of the NLP problem, the IPOPT solver is used, which implements a nonlinear primal-dual interior-point method, one of the leading techniques for large-scale nonlinear optimization.
引用
收藏
页码：659 / 670
页数：12
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