1 research outputs found
Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search
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.Comment: www.ars-journal.co