<abstract xml:lang="en" xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></abstract>

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.

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

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

International Journal of Applied Mathematics and Computer Science

{"article-title":"Optimization-based approach to path planning for closed chain robot systems"}

An application of advanced optimization techniques to solve the path planning problem for closed chain robot systems is proposed. The approach to path planning...

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

Publié en ligne: 21 déc. 2011

Pages: 659 - 670

DOI: https://doi.org/10.2478/v10006-011-0052-8

Mots clés
closed chain, path planning, nonlinear optimization

This content is open access.

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

Publié en ligne: 21 déc. 2011

Pages: 659 - 670

DOI: https://doi.org/10.2478/v10006-011-0052-8

Mots clésclosed chain, path planning, nonlinear optimization

This content is open access.

Mots clés
closed chain, path planning, nonlinear optimization