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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Vienna University of Technology
2005
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| Online Access: | http://irep.iium.edu.my/31348/ http://irep.iium.edu.my/31348/1/Optimal_point-to-point_trajectory.pdf |
| _version_ | 1848780408194334720 |
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| author | Ata, Atef A Myo, ThiRein |
| author_facet | Ata, Atef A Myo, ThiRein |
| author_sort | Ata, Atef A |
| building | IIUM Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T15:33:11Z |
| format | Article |
| id | iium-31348 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T15:33:11Z |
| publishDate | 2005 |
| publisher | Vienna University of Technology |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-313482013-08-20T06:33:56Z http://irep.iium.edu.my/31348/ Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search Ata, Atef A Myo, ThiRein T Technology (General) 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. Vienna University of Technology 2005-09 Article PeerReviewed application/pdf en http://irep.iium.edu.my/31348/1/Optimal_point-to-point_trajectory.pdf Ata, Atef A and Myo, ThiRein (2005) Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search. International Journal of Advanced Robotic Systems, 2 (3). pp. 239-244. ISSN 1729-8806 http://arxiv.org/ftp/cs/papers/0601/0601063.pdf |
| spellingShingle | T Technology (General) Ata, Atef A Myo, ThiRein Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search |
| title | Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search |
| title_full | Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search |
| title_fullStr | Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search |
| title_full_unstemmed | Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search |
| title_short | Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search |
| title_sort | optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search |
| topic | T Technology (General) |
| url | http://irep.iium.edu.my/31348/ http://irep.iium.edu.my/31348/ http://irep.iium.edu.my/31348/1/Optimal_point-to-point_trajectory.pdf |