Use of Grid Method for Efficient Global Optimum Design of Robot Kinematics
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Park, Joon Young | - |
| dc.contributor.author | Chang, Pyung Hun | - |
| dc.contributor.author | Kim, Jin Oh | - |
| dc.date.accessioned | 2011-09-29T04:29:27Z | - |
| dc.date.available | 2011-09-29T04:29:27Z | - |
| dc.date.issued | 2004 | - |
| dc.identifier.citation | International Workshop on Human-Friendly Welfare Robotic Systems, pp.99-104 | en |
| dc.identifier.uri | http://hdl.handle.net/10203/25301 | - |
| dc.description.abstract | We have presented Grid Method, a systematic and efficient problem formulation method for task-oriented design of robot kinematics and confirmed its efficiency through various design examples. Despite of its efficient problem formulation, however, our previous research has the following limitations: (i) it gives a local optimum only due to its use of a local optimization technique (ii) it uses constatn weights for a cost function chosen by a manual weights tuning algorithm, thereby showing low efficiency in finding an optimum solution. To solve these problem, therefore, this paper presents systematic, efficient algorithms of Grid Method with a global optimization technique and an adaptive weights tuning algorithm. | en |
| dc.description.sponsorship | The authors would like to express their gratitude for the KOSEF(Korea Science and Engineering Foundation), for supporting this research under their HWRS-ERC project. | en |
| dc.language.iso | en_US | en |
| dc.publisher | HWRS | en |
| dc.title | Use of Grid Method for Efficient Global Optimum Design of Robot Kinematics | en |
| dc.type | Article | en |
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- ME-Conference Papers(학술회의논문)
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