Trajectory Modeling of Robot Manipulators in the Presence of Obstacles

Multiobjective optimization techniques applied to engineering problems

“…The unconstrained minimization is done by the Broydon-Fletcher-Goldfarb-Shanno (BFGS) method and the one-dimensional search uses polynomial interpolation techniques. Let us consider the problem of dynamics optimization proposed by Faria (1991) and studied by Oliveira and Saramago (2004), which considers a cantilevered beam, such as that shown in Fig. 3, whose free extremity contains a mass-spring system.…”

“…The Finite Element Method was used to calculate the first three natural frequencies (ω 1 , ω 2 and ω 3 ) applying the code developed by Faria (1991). This code was put into the DOT optimization program to solve the problem:…”

“…Ambrósio (2002), in turn, utilized multiobjective programs as an instrument for agroenvironmental planning. Saramago and Steffen (2002) presented a solution to a multiobjective optimization problem to identify the best trajectory for a handling robot in the presence of moving obstacles, minimizing the total time required to traverse its predefined route and the mechanical energy of its actuators.…”

“…The second example involves the dynamics optimization proposed by Faria (1991) and studied by Oliveira and Saramago (2004), which considers a cantilevered beam whose free extremity contains a mass-spring system. The objective is to maximize the first natural frequency and to distance the first three natural frequencies from each other.…”

Optimization the Trajectories of Robot Manipulators Along Specified Task

“…In [2] used sequential unconstrained minimization techniques (SUMT) to do optimum trajectory planning of a STANFORD manipulator, the cost functions used in optimal trajectory planning are minimum traveling time, the minimum mechanical energy of the actuators and minimum penalty for obstacle avoidance. The SQP method and initial value finding algorithm are used in the works of [3,4].…”