Global Search for Optimal Geometric Path amid Obstacles Considering Manipulator Dynamics

로봇팔의 동역학을 고려한 장애물 속에서의 최적 기하학적 경로에 대한 전역 탐색

This paper presents a numerical method of the global search for an optimal geometric path for a manipulator arm amid obstacles. Finite term quintic B-splines are used to describe an arbitrary point-to-point manipulator motion with fixed moving time. The coefficients of the splines span a linear vector space, a point in which uniquely represents the manipulator motion. All feasible geometric paths are searched by adjusting the seed points of the obstacle models in the penetration growth distances. In the numerical implementation using nonlinear programming, the globally optimal geometric path is obtained for a spatial 3-link(3-revolute joints) manipulator amid several hexahedral obstacles without simplifying any dynamic or geometric models.