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A Global Optimal Approach for Robot Kinematics Design using the Grid Method  

Park Joon-Young (Korea Electric Power Research Institute)
Chang Pyung-Hun (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
Kim Jin-Oh (Department of Information and Control Engineering, Kwangwoon University)
Publication Information
International Journal of Control, Automation, and Systems / v.4, no.5, 2006 , pp. 575-591 More about this Journal
Abstract
In a previous research, we presented the Grid Method and confirmed it as a systematic and efficient problem formulation method for the task-oriented design of robot kinematics. However, our previous research was limited in two ways. First, it gave only a local optimum due to its use of a local optimization technique. Second, it used constant weights for a cost function chosen by the manual weights tuning algorithm, thereby showing low efficiency in finding an optimal solution. To overcome these two limitations, therefore, this paper presents a global optimization technique and an adaptive weights tuning algorithm to solve a formulated problem using the Grid Method. The efficiencies of the proposed algorithms have been confirmed through the kinematic design examples of various robot manipulators.
Keywords
Adaptive weights tuning; global optimal kinematics; grid method; simulated annealing;
Citations & Related Records

Times Cited By Web Of Science : 2  (Related Records In Web of Science)
Times Cited By SCOPUS : 2
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