Optimal point-to-point trajectory tracking of redundant manipulators using generalized pattern search

• Main Authors: Ata, Atef A, Myo, ThiRein
• Format: Article
• Language: English
• Published: Vienna University of Technology 2005
• Subjects: T Technology (General)
• Online Access: http://irep.iium.edu.my/31348/1/Optimal_point-to-point_trajectory.pdf; http://irep.iium.edu.my/31348/; http://arxiv.org/ftp/cs/papers/0601/0601063.pdf

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.