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Fast constrained global minimax optimization of robot parameters

Published online by Cambridge University Press:  05 April 2001

L. Stocco ,
S. E. Salcudean  and
F. Sassani
L. Stocco
Affiliation:
Department of Electrical Engineering, The University of British Columbia, Vancouver, British Columbia V6T 1Z4Canada. E-mail: [email protected], [email protected]
S. E. Salcudean
Affiliation:
Department of Electrical Engineering, The University of British Columbia, Vancouver, British Columbia V6T 1Z4Canada. E-mail: [email protected], [email protected]
F. Sassani
Affiliation:
Department of Mechanical Engineering, The University of British Columbia, Vancouver, British Columbia V6T 1Z4Canada. E-mail: [email protected]
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Abstract

A new global isotropy index (GII) is proposed to quantify the configuration independent isotropy of a robot's Jacobian or mass matrix. A new discrete global optimization algorithm is also proposed to optimize either the GII or some local measure without placing any conditions on the objective function. The algorithm is used to establish design guidelines and a globally optimal architecture for a planar haptic interface from both a kinematic and dynamic perspective and to choose the optimum geometry for a 6-DOF Stewart Platform. The algorithm demonstrates consistent effort reductons of up to six orders of magnitude over global searching with low sensitivity to initial conditions.

Keywords

Minimax optimizationRobot parameterGlobal isotropy indexStewart PlatformPantograph robot
Type
Research Article
Information
Robotica , Volume 16 , Issue 6 , November 1998 , pp. 595 - 605
Copyright
© 1998 Cambridge University Press

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