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A Semi-Infinte Optimization Approach to Optimal Spline Trajectory Planning of Mechanical Manipulators

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Semi-Infinite Programming

Part of the book series: Nonconvex Optimization and Its Applications ((NOIA,volume 57))

Abstract

The paper deals with the problem of optimal trajectory planning for rigid links industrial manipulators. According with actual industrial requirements, a technique for planning minimum-time spline trajectories under dynamics and kinematics constraints is proposed. More precisely, the evaluated trajectories, parametrized by means of cubic splines, have to satisfy joint torques and end-effector Cartesian velocities within given bounds. The problem solution is obtained by means of an hybrid genetic/interval algorithm for semi-infinite optimization. This algorithm provides an estimated global minimizer whose feasibility is guaranteed by the use of a deterministic interval procedure; i.e., a routine based on concepts of interval analysis. The proposed approach is tested by planning a 10 via points movement for a two link manipulator.

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Author information

Authors and Affiliations

  1. Dipartimento di Ingegneria dell’Informazione, Università di Parma, Parco Area delle Scienze 181A, 43100, Parma, Italy

    Corrado Guarino Lo Bianco & Aurelio Piazzi

Authors
  1. Corrado Guarino Lo Bianco
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  2. Aurelio Piazzi
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Editor information

Editors and Affiliations

  1. Universidad de Alicante, Spain

    Miguel Á. Goberna  & Marco A. López  & 

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© 2001 Springer Science+Business Media Dordrecht

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Bianco, C.G.L., Piazzi, A. (2001). A Semi-Infinte Optimization Approach to Optimal Spline Trajectory Planning of Mechanical Manipulators. In: Goberna, M.Á., López, M.A. (eds) Semi-Infinite Programming. Nonconvex Optimization and Its Applications, vol 57. Springer, Boston, MA. https://doi.org/10.1007/978-1-4757-3403-4_13

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  • DOI: https://doi.org/10.1007/978-1-4757-3403-4_13

  • Publisher Name: Springer, Boston, MA

  • Print ISBN: 978-1-4419-5204-2

  • Online ISBN: 978-1-4757-3403-4

  • eBook Packages: Springer Book Archive

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