148. trajectory optimization of 7-dof baxter robot's arm

Department: Mechanical & Aerospace Engineering
Research Institute Affiliation: Center for Control Systems and Dynamics (CCSD)
Faculty Advisor(s): Miroslav Krstic | Peiman Naseradinmousavi

Primary Student
Name: Mostafa Bagheri
Email: mobagher@ucsd.edu
Phone: 858-534-5670
Grad Year: 2019

We present nonlinear analytical coupled trajectory optimization of a 7-DOF Baxter manipulator validated through experimental work utilizing global optimization tools and extremum seeking method. The robotic manipulators used in network-based applications of industrial units and even homes, for disabled patients, spend significant lumped amount of energy and therefore, optimal trajectories need to be generated to address efficiency issues. We here utilize extremum seeking method alongside with heuristic (Genetics) and gradient-based (GlobalSearch) algorithms to avoid being trapped in several possible local minima, enforcing geometrical constraints in order to minimize the lumped amount of energy consumed in a nominal path given. Note that such robots are typically operated for thousands of cycles resulting in a considerable cost of operation. Due to the expected computational cost of such global optimization algorithms, step size analysis is carried out to minimize both the computational cost (iteration) and possibly cost function by finding an optimal step size. Global design sensitivity analysis is also performed to examine the effects of changes of optimization variables on the cost function defined.

Industry Application Area(s)
Control Systems | Energy/Clean technology

Related Links:

  1. http://www-rohan.sdsu.edu/~mezzolo/robotics.html

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