Mobile manipulator configuration optimization using evolutionary programming

Conference · Wed Jan 01 04:00:00 EST 1992

OSTI ID:7036669

McDonnell, J R; Andersen, B L; Page, W C ^[1]; Pin, F G ^[2]

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1. Naval Command, Control and Ocean Surveillance Center, San Diego, CA (United States)
2. Oak Ridge National Lab., TN (United States)

Multi-degree-of-freedom manipulators are becoming commonplace on mobile platforms. Full autonomy of mobile manipulator robotic systems will depend on the ability to resolve the inherent kinematic redundancy in task commutation. This work investigates the application of an evolutionary search strategy for determining near-optimal mobile manipulator configurations. Joint torques, obstacle avoidance and manipulability are incorporated in a multi-criteria optimization formulation. A variety of aspects of the evolutionary programming paradigm are addressed via empirical studies on a two degree-of-freedom (DOF) manipulator. These studies investigate full configuration vector versus partial configuration vector mutation as well as mutation strategies which incorporate cost and iteration number. The results of this study are then applied to a planar three DOF manipulator mounted on a single DOF mobile base. Experiments indicate that the configuration optimization problem is amenable to a variety of mutation strategies.

• Research Organization: Oak Ridge National Lab., TN (United States)
• Sponsoring Organization: DOE; USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 7036669
• Report Number(s): CONF-9202137-1; ON: DE92041307
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
ALGORITHMS
AUTOMATION
CONFIGURATION
CONTROL
DEGREES OF FREEDOM
EQUIPMENT
ITERATIVE METHODS
JOINTS
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
NAVIGATION
OPTIMIZATION
REMOTE CONTROL
REMOTE HANDLING EQUIPMENT
ROBOTS