On-line optimization of flexibility and low energy for redundant manipulator

Long Wu, Wei Song, Linyong Shen, Yanan Zhang, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Most of the time a redundant manipulator do not need all the links work hard to perform a given work because of redundancy. It looks like some links play a major role and others give the assistant effect. We consider it could be executed based on a rule of keeping with a high flexibility of the manipulator and using as less energy as possible. Minami's research has already verified the Reconfiguration Manipulability Shape Index (RMSI) can be used to evaluate the manipulator's flexibility. We propose an on-line control method for a redundant manipulator by optimizing its flexibility together with low energy cost using RMSI, and add it with the energy cost function of the joint-path. On-line optimization is solved by using "1-Step GA (Genetic Algorithm)" technique. Simulations of a 4-link redundant manipulator have shown the method can improve flexibility with low energy cost relatively.

Original languageEnglish
Title of host publication12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479941995
DOIs
Publication statusPublished - Jan 21 2014
Event12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Hokkaido, Japan
Duration: Oct 27 2014Oct 30 2014

Other

Other12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014
CountryJapan
CityHokkaido
Period10/27/1410/30/14

Keywords

  • energy cost
  • flexibility
  • Genetic Algorithm
  • online optimization
  • redundant manipulator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Safety, Risk, Reliability and Quality

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  • Cite this

    Wu, L., Song, W., Shen, L., Zhang, Y., & Minami, M. (2014). On-line optimization of flexibility and low energy for redundant manipulator. In 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings [7017645] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2014.7017645