NDLI: Iterative dynamic programming: an approach to minimum energy trajectory planning for robotic manipulators

Content Provider	IEEE Xplore Digital Library
Author	Field, G. Stepanenko, Y.
Copyright Year	1996
Description	Author affiliation: Precision MicroDynamics Inc., Victoria, BC, Canada (Field, G.)
Abstract	This paper proposes a technique of iterative dynamic programming to plan minimum energy consumption trajectories for robotic manipulators. The dynamic programming method is modified to perform a series of dynamic programming passes over a small reconfigurable grid covering only a portion of the solution space at any one pass. Although strictly no longer a global optimization process, this iterative approach retains the ability to avoid some poor local minima while avoiding the curse of dimensionality associated with a pure dynamic programming approach. The algorithm has an inherent parallel structure, allowing for reduced computation time on parallel architecture computers. No limiting assumptions are made about the performance index, or function to be optimized. As such, extremely complex functions and constraints are easily handled. Joint actuator and time constraints are considered in this work. The modified dynamic programming approach is verified experimentally by planning and executing a minimum energy consumption path for a Reis V15 industrial manipulator.
Starting Page	2755
Ending Page	2760
File Size	695064
Page Count	6
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.506579
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Iterative methods Dynamic programming Energy consumption Manipulator dynamics Concurrent computing Trajectory Orbital robotics Iterative algorithms Parallel architectures Performance analysis
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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