Name
Title | ||
|---|---|---|
SALSA-based motion optimization for robotic manipulators with strong nonlinear dynamic coupling |
Abstract | ||
|---|---|---|
In this paper, the motion optimization for robotic manipulators is investigated by Support Area Level Set Algorithm (SALAS) through optimizing a high-dimensional nonlinear fitness function. The approach based on level set conception and the ability of Support Vector Machine(SVM) in distribution estimation integrates duel stages sampling strategies to avoid be converge in small search field too early and improve the rate of convergence to the potential solution. The simulations using two links robotic manipulators show satisfied results with SALSA. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBIO.2009.5420451 | ROBIO |
Keywords | Field | DocType |
strong nonlinear dynamic coupling,motion control,support area level set,robotic manipulator,nonlinear dynamic coupling,level set conception,salsa-based motion optimization,support area level set algorithm,duel stages sampling strategies,distribution estimation,duel stage,nonlinear fitness function,high-dimensional nonlinear fitness function,nonlinear control systems,support vector machine,links robotic manipulator,manipulators,motion optimization,sampling methods,potential solution,splines (mathematics),robotic manipulators,support vector machines,stochastic programming,torque,spline,rate of convergence,level set,fitness function,satisfiability,nonlinear dynamics,optimization | Mathematical optimization,Motion control,Torque,Nonlinear system,Control theory,Support vector machine,Level set,Control engineering,Fitness function,Rate of convergence,Stochastic programming,Mathematics | Conference |
ISBN | Citations | PageRank |
978-1-4244-4775-6 | 0 | 0.34 |
References | Authors | |
4 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kun Yang | 1 | 0 | 0.68 |
| Zhijun Li | 2 | 1051 | 56.61 |
| Jun Luo | 3 | 123 | 21.77 |
| Chunquan Xu | 4 | 57 | 6.43 |