A Topological Approach to Globally-Optimal Redundancy Resolution with Dynamic Programming View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2019

AUTHORS

Enrico Ferrentino , Pasquale Chiacchio

ABSTRACT

Redundancy resolution schemes based on calculus of variations present several drawbacks limiting the intrinsic potential, in terms of augmented dexterity and flexibility, of redundant manipulators. In particular, they do not guarantee the achievement of the globally-optimal solution. Grid search algorithms can be designed starting from dynamic programming (DP) which overcome the limits of calculus of variations. This paper, in particular, presents a novel algorithm that considers the employment of multiple DP grids to be searched together at the same time. Such a technique achieves the global optimum, while allowing for pose reconfiguration of the manipulator while the task is executed. More... »

PAGES

77-85

References to SciGraph publications

Book

TITLE

ROMANSY 22 – Robot Design, Dynamics and Control

ISBN

978-3-319-78962-0
978-3-319-78963-7

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-319-78963-7_11

DOI

http://dx.doi.org/10.1007/978-3-319-78963-7_11

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1104120990


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