Reducing the optimization problem for the efficient motion planning of kinematically redundant parallel robots

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Authors

  • Sebastian Niemann
  • Jens Kotlarski
  • Tobias Ortmaier
  • Christian Muller-Schloer
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Details

Original languageEnglish
Title of host publication2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Subtitle of host publicationMechatronics for Human Wellbeing, AIM 2013
Place of PublicationWollongong, Australia
Pages618-624
Number of pages7
Publication statusPublished - 2013
Event2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 - Wollongong, NSW, Australia
Duration: 9 Jul 201312 Jul 2013

Publication series

Name2013 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 subject areas

Cite this

Reducing the optimization problem for the efficient motion planning of kinematically redundant parallel robots. / Niemann, Sebastian; Kotlarski, Jens; Ortmaier, Tobias et al.
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. Wollongong, Australia, 2013. p. 618-624 6584161 (2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Niemann, S, Kotlarski, J, Ortmaier, T & Muller-Schloer, C 2013, Reducing the optimization problem for the efficient motion planning of kinematically redundant parallel robots. in 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013., 6584161, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013, Wollongong, Australia, pp. 618-624, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013, Wollongong, NSW, Australia, 9 Jul 2013. https://doi.org/10.1109/AIM.2013.6584161
Niemann, S., Kotlarski, J., Ortmaier, T., & Muller-Schloer, C. (2013). Reducing the optimization problem for the efficient motion planning of kinematically redundant parallel robots. In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 (pp. 618-624). Article 6584161 (2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013).. https://doi.org/10.1109/AIM.2013.6584161
Niemann S, Kotlarski J, Ortmaier T, Muller-Schloer C. Reducing the optimization problem for the efficient motion planning of kinematically redundant parallel robots. In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. Wollongong, Australia. 2013. p. 618-624. 6584161. (2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013). doi: 10.1109/AIM.2013.6584161
Niemann, Sebastian ; Kotlarski, Jens ; Ortmaier, Tobias et al. / Reducing the optimization problem for the efficient motion planning of kinematically redundant parallel robots. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. Wollongong, Australia, 2013. pp. 618-624 (2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013).
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