Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search
<|reference_start|>Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search: Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.<|reference_end|>
@article{ata2006optimal,
    title={Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators
  using Generalized Pattern Search},
    author={Atef A. Ata & Thi Rein Myo},
    journal={International Journal of Advanced Robotics Systems, Vol.2No3.
  (2005)},
    year={2006},
    archivePrefix={arXiv},
    eprint={cs/0601063},
    primaryClass={cs.RO}
}