Single and multi-objective optimization of path placement for redundant robotic manipulators

Abstract

GENERAL FORMULATIONS ARE PRESENTED IN THIS PAPER TO DETERMINE THE BEST POSITION AND ORIENTATION OF A DESIRED PATH TO BE FOLLOWED BY ARE DUNDANT MANIPULATOR. TWO CLASSES OF PROBLEM ARE CONSIDERED. IN THE FIRST, A SINGLE MANIPULATOR'S INDEX OF KINEMATIC PERFORMANCE ASSOCIATED TO ONE PATH POINT MUST BE IMPROVED AS MUCH AS POSSIBLE. IN THE SECOND CASE DISTINCT INDICES OF KINEMATIC PERFORMANCE, CORRESPONDING TO DIFFERENT POINTS OF THE PATH, ARE TO BE OPTIMIZED. CONSTRAINTS ARE TAKEN INTO ACCOUNT IN ORDER TO GUARANTEE THE ACCESSIBILITY TO THE WHOLE DE SIRED TASK. SEVERAL CASE STUDIES ARE PRESENTED TO ILLUSTRATE THE EFFECTIVE NESS OF THE METHOD FOR PLANAR AND SPATIAL MANIPULATORS.