Multi-criteria position and configuration optimization for redundant platform/manipulator systems

Conference · Mon Jan 01 04:00:00 EST 1990

DOI:https://doi.org/10.1109/IROS.1990.262375· OSTI ID:7170131

Pin, F G; Culioli, J -C

An important characteristic of practical mobile manipulators, i.e., manipulators mounted on mobile platforms, is their particular kinematic redundancy created by the addition of the degrees of freedom of the platform to those of the manipulator. This paper is concerned with the resolution of this kinematic redundancy, and in particular with the local optimization of the position and configuration on the system during task commutations when changes occur in both task requirements and task constraints. Optimization criteria for obstacle avoidance, manupulablity, least torque norm and maximum actuator torque are first discussed. Emphasis is them placed on optimization methods for problems involving multi-requirements and multi-criteria optimization. Sample results of the methods for a system including a three-link manipulator mounted on a mobile platform are presented and discussed. 10 refs., 6 figs.

• Research Organization: Oak Ridge National Lab., TN (USA)
• Sponsoring Organization: DOD; DOE/ER
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 7170131
• Report Number(s): CONF-900795-1; ON: DE90010705
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420200* -- Engineering-- Facilities
Equipment
& Techniques
DEGREES OF FREEDOM
EQUIPMENT
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
OPTIMIZATION
PORTABLE EQUIPMENT
REMOTE HANDLING EQUIPMENT
ROBOTS
TORQUE