A Techniques to Downgrade Objective Function in Parallel Robot Kinematics Problem

@inproceedings{Trang2015ATT,
  title={A Techniques to Downgrade Objective Function in Parallel Robot Kinematics Problem},
  author={Trung Thanh Trang and Guang Wei Li and Long Thanh Pham},
  booktitle={ICRA 2015},
  year={2015}
}
Quadratic functions and quaternary functions are preferable forms solving parallel robot kinematics problems. In order to simplify and to use only one method to solve all forms of the objective functions, this article introduces prevalent techniques to downgrade mathematical model of the objective functions from quaternary function to quadratic function in parallel robot kinematics problem. By using equivalent alternative kinematic structure and additional mathematical constraints, we will… 

Figures from this paper

References

SHOWING 1-10 OF 16 REFERENCES

Kinematics, Singularity and Dexterity Analysis of Planar Parallel Manipulators Based on DH Method

In this book chapter, the forward and inverse kinematics problems of PPMs are solved based on D-H method (Denavit & Hartenberg, 1955) which is a common kinematic modelling convention using 4x4 homogenous transformation matrices.

A Solution to Inverse Kinematics Problem Using the Concept of Sampling Importance Resampling

This paper tries to solve the Inverse Kinematics problem using the Sampling Importance Resampling (SIR) particle filter and succeeds in finding multiple solutions, performs well near singularities and requires no initial estimate.

Design of high speed planar parallel manipulator and multiple simultaneous specification control

Simulation and experimental results show that the proposed planar parallel manipulator yields better dynamic performance than a conventional X-Y table and has great potential in application to high speed assembly.

Parallel Manipulators Applications—A Survey

The prime focus of the paper is to realize the parallel manipulators applications for industry, space, medical science or commercial usage by orienting manipulator in the space at the high speed with a desired accuracy.

A comparative study on optimization methods for the constrained nonlinear programming problems.

This study compares the performance of sequential quadratic programming methods and generalized reduced gradient methods with the genetic algorithms which gained popularity in recent years due to advantages in speed and robustness.

Design and Testing of a Generalized Reduced Gradient Code for Nonlinear Programming

A Generalized Reduced Gradient algorithm for nonlinear programming, its implementation as a FORTRAN program for solving small to medium size problems, and some computational results are described.

His research interest covers robot control technology and machine learning

  • 2006

Ocjena ucinkovitosti postupaka za rjesavanje kinematike Stewartowih paralelnih mehanizama. Magistarski Rad, zagreb

  • 2001

Global Optimization for constrained nonlinear programs using line-up competition algorithm

  • Compus. Oper. Res,
  • 2001