Efficient global redundant configuration resolution via sub-energy tunneling and terminal repelling

Autor:	Joel W. Burdick, B.C. Cetin, J. Barhen
Rok vydání:	2002
Předmět:	Optimization algorithm Control theory Global configuration Global optimization algorithm Redundancy (engineering) Robot Kinematics Topology Quantum tunnelling Mathematics
Zdroj:	ICRA
Popis:	A method for the global configuration resolution for kinematically redundant manipulators is presented. This method is based on an efficient global optimization algorithm which uses a sub-energy tunneling function and terminal repellers. This optimization algorithm is reviewed, and its specialization to redundancy resolution is developed. Applications of this method and comparisons to null-space projection are presented. >
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::25ab5980c0da04e9b01ef4a086c358c1 https://doi.org/10.1109/robot.1991.131709 Zobrazit plný text záznamu