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INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS I pp 73–80Cite as

A STOCHASTIC OFF LINE PLANNER OF OPTIMAL DYNAMIC MOTIONS FOR ROBOTIC MANIPULATORS

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Abstract

We propose a general and simple method that handles free (or point-to-point) motion planning problem for redundant and non-redundant serial robots. The problem consists of linking two points in the operational space, under constraints on joint torques, jerks, accelerations, velocities and positions while minimizing a cost function involving significant physical parameters such as transfer time and joint torque quadratic average. The basic idea is to dissociate the search of optimal transfer time T from that of optimal motion parameters. Inherent constraints are then easily translated to bounds on the value of T. Furthermore, a stochastic optimization method is used which not only may find a better approximation of the global optimal motion than is usually obtained via traditional techniques but that also handles more complicated problems such as those involving discontinuous friction efforts and obstacle avoidance.

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Author information

Authors and Affiliations

  1. Mechanical Laboratory of Structures, EMP, B.E.B., Algiers, BP17, 16111, Algeria

    Taha Chettibi, Moussa Haddad & Samir Rebai

  2. Laboratory of applied mathematics, EMP, B.E.B., Algiers, BP17, 16111, Algeria

    Abd Elfath Hentout

Authors
  1. Taha Chettibi
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  2. Moussa Haddad
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  3. Samir Rebai
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  4. Abd Elfath Hentout
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Editor information

Editors and Affiliations

  1. Escola Superior de Tecnologia de Setúbal, Portugal

    JOSÉ BRAZ

  2. University of Coimbra, Portugal

    HELDER ARAÚJO

  3. Escola Superior de Tecnologia de Setúbal, Portugal

    ALVES VIEIRA

  4. INSTICC - Institute for Systems and Technologies of Information, Control and Communication, Setúbal, Portugal

    BRUNO ENCARNAÇÃO

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© 2006 Springer

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Chettibi, T., Haddad, M., Rebai, S., Hentout, A.E. (2006). A STOCHASTIC OFF LINE PLANNER OF OPTIMAL DYNAMIC MOTIONS FOR ROBOTIC MANIPULATORS. In: BRAZ, J., ARAÚJO, H., VIEIRA, A., ENCARNAÇÃO, B. (eds) INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS I. Springer, Dordrecht. https://doi.org/10.1007/1-4020-4543-3_8

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  • DOI: https://doi.org/10.1007/1-4020-4543-3_8

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-1-4020-4136-5

  • Online ISBN: 978-1-4020-4543-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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