NDLI: A simulated annealing optimization algorithm implemented within an operator-assist interface

Content Provider	IEEE Xplore Digital Library
Author	Hooper, R.
Copyright Year	1997
Description	Author affiliation: Dept. of Mech. Eng., Texas Univ., Austin, TX, USA (Hooper, R.)
Abstract	The assist interface suggests configuration options to the system's operator. As an example, this paper develops an assist interface for a robotic system called the dual-arm work module (DAWM). The DAWM has seventeen independent degrees of freedom arranged to give the system five degrees of kinematic redundancy. These five extra kinematic resources (extra joints) give the DAWM the versatility to perform a wide range of tasks, including: disassembly, cutting, material transport, and decontamination. In the current application scenario, the operator positions each redundant joint directly and independently of the other joints. Because of obstacles and kinematic coupling, even an experienced operator may need to reposition the extra joints several times while performing a task. The simulated annealing optimization algorithm considers obstacles and performance criteria while generating suggested options for positioning the extra joints (configuration options). The operator interface then presents these options using computer graphics. The interface should reduce the amount of time the operator spends positioning the extra joints and perhaps improve the quality of the work.
Starting Page	656
Ending Page	661
File Size	617377
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620111
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simulated annealing Kinematics Robots Orbital robotics Computational geometry Constraint optimization Jacobian matrices Mechanical engineering Joining materials Decontamination
Content Type	Text
Resource Type	Article

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