Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search | Zendy

Atef A. Ata | Zendy; Thi Rein Myo | Zendy

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Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search

Author(s) -

Atef A. Ata,

Thi Rein Myo

Publication year - 2005

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5781

Subject(s) - trajectory , computer science , position (finance) , point (geometry) , genetic algorithm , global positioning system , planar , tracking (education) , control theory (sociology) , algorithm , artificial intelligence , mathematics , control (management) , psychology , telecommunications , pedagogy , physics , geometry , computer graphics (images) , finance , astronomy , machine learning , economics

Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance

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