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Efficient global redundant configuration resolution via sub-energy tunneling and terminal repelling

Burdick, Joel W. and Cetin, Bedri C. and Barhen, Jacob (1991) Efficient global redundant configuration resolution via sub-energy tunneling and terminal repelling. In: Proceedings. 1991 IEEE International Conference on Robotics and Automation. Vol.1. IEEE , Piscataway, NJ, pp. 939-944. ISBN 0-8186-2163-X. https://resolver.caltech.edu/CaltechAUTHORS:20190611-105202620

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Abstract

A method for the global configuration resolution for kinematically redundant manipulators is presented. This method is based on an efficient global optimization algorithm which uses a sub-energy tunneling function and terminal repellers. This optimization algorithm is reviewed, and its specialization to redundancy resolution is developed. Applications of this method and comparisons to null-space projection are presented.


Item Type:Book Section
Related URLs:
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https://doi.org/10.1109/ROBOT.1991.131709DOIArticle
Additional Information:© 1991 IEEE.
Record Number:CaltechAUTHORS:20190611-105202620
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190611-105202620
Official Citation:J. W. Burdick, B. C. Cetin and J. Barhen, "Efficient global redundant configuration resolution via sub-energy tunneling and terminal repelling," Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, 1991, pp. 939-944 vol.1. doi: 10.1109/ROBOT.1991.131709
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96276
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:11 Jun 2019 21:32
Last Modified:03 Oct 2019 21:20

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