Document Type
Article
Publication Date
12-1992
Publication Title
Journal of Robotic Systems
Abstract
For an industrial robot on a daily operation basis such as pick and place, it is desired to minimize the robotic joint displacements when moving the robot from one location to another. The objective of the optimization here is to simultaneously minimize a robot end effector's positional error and the robotic joint displacements. By modifying the searching algorithm in the existing complex optimization method, this article presents a technique for finding the desired global optimum solution more efficiently. To compare the optimum searching capability between the proposed and existing searching algorithms, a modified Himmelblau's function is used as an objective function. The presented technique is then applied to a spatial three-link robot manipulator for global minimization of the joint displacements.
Recommended Citation
Lin, P. P., & Yang, A. (1992). An Efficient Technique for Finding the Desired Global Optimum of Robotic Joint Displacement. Journal Of Robotic Systems, 9(8), 1043-1058. .
DOI
10.1002/rob.4620090804
Version
Postprint
Publisher's Statement
This is the accepted version of the following article: Lin, P. P., & Yang, A. (1992). An Efficient Technique for Finding the Desired Global Optimum of Robotic Joint Displacement. Journal Of Robotic Systems, 9(8), 1043-1058., which has been published in final form at http://onlinelibrary.wiley.com/doi/10.1002/rob.4620090804/abstract
Volume
9
Issue
8
