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Numerical robot kinematics based on stochastic and molecular simulation methods

Published online by Cambridge University Press:  09 March 2009

Thomas Kastenmeier  and
Franz J. Vesely
Thomas Kastenmeier
Affiliation:
Institute of Experimental Physics, University of Vienna, Boltzmanngasse 5, A-1090 Vienna (Austria) e-mail: kast@pap.univie.ac.at.
Franz J. Vesely
Affiliation:
Institute of Experimental Physics, University of Vienna, Boltzmanngasse 5, A-1090 Vienna (Austria) e-mail: ves@pap.univie.ac.at.
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Summary

Multilink robot arms are geometrically similar to chain molecules. We investigate the performance of molecular simulation methods, combined with stochastic methods for optimization, when applied to problems of robotics. An efficient and flexible algorithm for solving the inverse kinematic problem for redundant robots in the presence of obstacle's (and other constraints) is suggested. This “Constrained Kinematics/Stochastic Optimization” (CKSO) method is tested on various standard problems.

Keywords

Numerical kinematicsMolecular simulationMultilink robot armsRedundant robotsSimulated annealing.
Type
Article
Information
Robotica , Volume 14 , Issue 3 , May 1996 , pp. 329 - 337
Copyright
Copyright © Cambridge University Press 1996

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