Accession Number : ADA265646


Title :   Configuration Optimization of Mobile Manipulators With Equality Constraints Using Evolutionary Programming


Descriptive Note : Professional paper


Corporate Author : NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA


Personal Author(s) : Andersen, Brian ; McDonnell, John ; Page, Ward


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a265646.pdf


Report Date : Feb 1993


Pagination or Media Count : 10


Abstract : A mobile manipulator generally possesses kinematic redundancy, which requires some method for selecting the configuration appropriate to the task. Evolutionary Programming (EP) has been used successfully to select an appropriate configuration using a large penalty on the end-point position to force the end-point to the goal position for the task. This paper demonstrates that using an equality constraint for the end-point position results in much faster convergence to approximately the same final configurations. The reasons for this increase in speed are examined using a simplified model to determine the relative size of their effects.


Descriptors :   *OPTIMIZATION , *COMPUTER PROGRAMMING , *MANIPULATORS , *EVOLUTION(DEVELOPMENT) , KINEMATICS , CONFIGURATIONS , CONVERGENCE , PENALTIES , REDUNDANCY , MOBILE , VELOCITY , REPRINTS


Subject Categories : Computer Programming and Software


Distribution Statement : APPROVED FOR PUBLIC RELEASE