Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics |
| Untertitel | Mechatronics for Human Wellbeing, AIM 2013 |
| Erscheinungsort | Wollongong, Australia |
| Seiten | 618-624 |
| Seitenumfang | 7 |
| Publikationsstatus | Veröffentlicht - 2013 |
| Veranstaltung | 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 - Wollongong, NSW, Australien Dauer: 9 Juli 2013 → 12 Juli 2013 |
Publikationsreihe
| Name | 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 |
|---|
Abstract
This paper presents an optimization procedure used to efficiently maximize the potentials of parallel manipulators with kinematic redundancy within real-time. The proposed approach consists of reducing the search space defined by the optimization problem beforehand, through minimizing the amount of optimization points necessary to induce the optimization problem. Furthermore, the computation time of the fitness function is reduced during run-time. Therefore, the relationship between the Cartesian path of the end-effector and the resulting optimization problem is studied and a procedure to minimize the given dependencies is presented. Exemplarily, a kinematically redundant 3(P)RRR parallel robot is considered to quantify the efficiency of the discussed procedure. The results demonstrate that the proposed approach is able to outperform existing procedures by one to two orders of magnitude.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Artificial intelligence
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
- Ingenieurwesen (insg.)
- Maschinenbau
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- BibTex
- RIS
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. Wollongong, Australia, 2013. S. 618-624 6584161 (2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Reducing the optimization problem for the efficient motion planning of kinematically redundant parallel robots
AU - Niemann, Sebastian
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
AU - Muller-Schloer, Christian
PY - 2013
Y1 - 2013
N2 - This paper presents an optimization procedure used to efficiently maximize the potentials of parallel manipulators with kinematic redundancy within real-time. The proposed approach consists of reducing the search space defined by the optimization problem beforehand, through minimizing the amount of optimization points necessary to induce the optimization problem. Furthermore, the computation time of the fitness function is reduced during run-time. Therefore, the relationship between the Cartesian path of the end-effector and the resulting optimization problem is studied and a procedure to minimize the given dependencies is presented. Exemplarily, a kinematically redundant 3(P)RRR parallel robot is considered to quantify the efficiency of the discussed procedure. The results demonstrate that the proposed approach is able to outperform existing procedures by one to two orders of magnitude.
AB - This paper presents an optimization procedure used to efficiently maximize the potentials of parallel manipulators with kinematic redundancy within real-time. The proposed approach consists of reducing the search space defined by the optimization problem beforehand, through minimizing the amount of optimization points necessary to induce the optimization problem. Furthermore, the computation time of the fitness function is reduced during run-time. Therefore, the relationship between the Cartesian path of the end-effector and the resulting optimization problem is studied and a procedure to minimize the given dependencies is presented. Exemplarily, a kinematically redundant 3(P)RRR parallel robot is considered to quantify the efficiency of the discussed procedure. The results demonstrate that the proposed approach is able to outperform existing procedures by one to two orders of magnitude.
UR - http://www.scopus.com/inward/record.url?scp=84883678503&partnerID=8YFLogxK
U2 - 10.1109/AIM.2013.6584161
DO - 10.1109/AIM.2013.6584161
M3 - Conference contribution
AN - SCOPUS:84883678503
SN - 9781467353199
T3 - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
SP - 618
EP - 624
BT - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
CY - Wollongong, Australia
T2 - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Y2 - 9 July 2013 through 12 July 2013
ER -