Upravljanje antropomorfnom robotskom rukom koristeći genetičke algoritme
Abstract
In this paper it is treated control of an anthropomorphic robot arm (ARA) with three of freedom. Analysis of multijoint coordination in humans is an important source of information for synthesis of dynamic patterns in machines. Here, it is stated and solved the Bernstein problem which is related to kinematic redundancy of ARA. One of approaches for solving previous problem is based on introducing a „cost function“ that is a presumably optimized during movements where the problem of coordinating multiple systems can be state as an optimization problem which is most likely to biological „principle of minimum interaction“. The solution is generated in a sequence of steps involving a heuristic techniques of genetic algorithm that provides reliable initial guesses. To solve local problems, the minimum principle is used where the multi-level univariate hierarchical strategies is proposed. The problem is divided into two-level optimization problem which is solved iteratively until the desir...ed performance is achieved.
Keywords:
anthropomorphic robot arm / optimization / bilological analogy / minimum principleSource:
Proceedings of the YUCTAM, Vrnjačka Banja 2-7 Jun 1997., 1997, 101-106Publisher:
- Beograd : Jugoslovensko društvo za mehaniku
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Lazarević, Mihailo PY - 1997 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6670 AB - In this paper it is treated control of an anthropomorphic robot arm (ARA) with three of freedom. Analysis of multijoint coordination in humans is an important source of information for synthesis of dynamic patterns in machines. Here, it is stated and solved the Bernstein problem which is related to kinematic redundancy of ARA. One of approaches for solving previous problem is based on introducing a „cost function“ that is a presumably optimized during movements where the problem of coordinating multiple systems can be state as an optimization problem which is most likely to biological „principle of minimum interaction“. The solution is generated in a sequence of steps involving a heuristic techniques of genetic algorithm that provides reliable initial guesses. To solve local problems, the minimum principle is used where the multi-level univariate hierarchical strategies is proposed. The problem is divided into two-level optimization problem which is solved iteratively until the desired performance is achieved. PB - Beograd : Jugoslovensko društvo za mehaniku C3 - Proceedings of the YUCTAM, Vrnjačka Banja 2-7 Jun 1997. T1 - Upravljanje antropomorfnom robotskom rukom koristeći genetičke algoritme EP - 106 SP - 101 UR - https://hdl.handle.net/21.15107/rcub_machinery_6670 ER -
@conference{ author = "Lazarević, Mihailo", year = "1997", abstract = "In this paper it is treated control of an anthropomorphic robot arm (ARA) with three of freedom. Analysis of multijoint coordination in humans is an important source of information for synthesis of dynamic patterns in machines. Here, it is stated and solved the Bernstein problem which is related to kinematic redundancy of ARA. One of approaches for solving previous problem is based on introducing a „cost function“ that is a presumably optimized during movements where the problem of coordinating multiple systems can be state as an optimization problem which is most likely to biological „principle of minimum interaction“. The solution is generated in a sequence of steps involving a heuristic techniques of genetic algorithm that provides reliable initial guesses. To solve local problems, the minimum principle is used where the multi-level univariate hierarchical strategies is proposed. The problem is divided into two-level optimization problem which is solved iteratively until the desired performance is achieved.", publisher = "Beograd : Jugoslovensko društvo za mehaniku", journal = "Proceedings of the YUCTAM, Vrnjačka Banja 2-7 Jun 1997.", title = "Upravljanje antropomorfnom robotskom rukom koristeći genetičke algoritme", pages = "106-101", url = "https://hdl.handle.net/21.15107/rcub_machinery_6670" }
Lazarević, M.. (1997). Upravljanje antropomorfnom robotskom rukom koristeći genetičke algoritme. in Proceedings of the YUCTAM, Vrnjačka Banja 2-7 Jun 1997. Beograd : Jugoslovensko društvo za mehaniku., 101-106. https://hdl.handle.net/21.15107/rcub_machinery_6670
Lazarević M. Upravljanje antropomorfnom robotskom rukom koristeći genetičke algoritme. in Proceedings of the YUCTAM, Vrnjačka Banja 2-7 Jun 1997.. 1997;:101-106. https://hdl.handle.net/21.15107/rcub_machinery_6670 .
Lazarević, Mihailo, "Upravljanje antropomorfnom robotskom rukom koristeći genetičke algoritme" in Proceedings of the YUCTAM, Vrnjačka Banja 2-7 Jun 1997. (1997):101-106, https://hdl.handle.net/21.15107/rcub_machinery_6670 .