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2011 | 21 | 4 | 659-670
Tytuł artykułu

Optimization-based approach to path planning for closed chain robot systems

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
An application of advanced optimization techniques to solve the path planning problem for closed chain robot systems is proposed. The approach to path planning is formulated as a “quasi-dynamic” NonLinear Programming (NLP) problem with equality and inequality constraints in terms of the joint variables. The essence of the method is to find joint paths which satisfy the given constraints and minimize the proposed performance index. For numerical solution of the NLP problem, the IPOPT solver is used, which implements a nonlinear primal-dual interior-point method, one of the leading techniques for large-scale nonlinear optimization.
Słowa kluczowe
Rocznik
Tom
21
Numer
4
Strony
659-670
Opis fizyczny
Daty
wydano
2011
otrzymano
2010-10-26
poprawiono
2011-05-29
Twórcy
  • Institute of Control and Computation Engineering, Warsaw University of Technology, ul. Nowowiejska 15/19, 00-665 Warsaw, Poland
  • Research and Academic Computer Network (NASK), ul. Wąwozowa 18, 02-796 Warsaw, Poland
Bibliografia
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Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv21i4p659bwm
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