- Tytuł:
- Optimization-based approach to path planning for closed chain robot systems
- Autorzy:
-
Szynkiewicz, W.
Błaszczyk, J. - Powiązania:
- https://bibliotekanauki.pl/articles/930153.pdf
- Data publikacji:
- 2011
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
łańcuch zamknięty
planowanie trajektorii
optymalizacja nieliniowa
closed chain
path planning
nonlinear optimization - Opis:
- 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.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2011, 21, 4; 659-670
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł