@inproceedings{7a0279fe73ab45a1b76c6eb2ee09706e,
title = "On-line optimization of flexibility and low energy for redundant manipulator",
abstract = "Most of the time a redundant manipulator do not need all the links work hard to perform a given work because of redundancy. It looks like some links play a major role and others give the assistant effect. We consider it could be executed based on a rule of keeping with a high flexibility of the manipulator and using as less energy as possible. Minami's research has already verified the Reconfiguration Manipulability Shape Index (RMSI) can be used to evaluate the manipulator's flexibility. We propose an on-line control method for a redundant manipulator by optimizing its flexibility together with low energy cost using RMSI, and add it with the energy cost function of the joint-path. On-line optimization is solved by using {"}1-Step GA (Genetic Algorithm){"} technique. Simulations of a 4-link redundant manipulator have shown the method can improve flexibility with low energy cost relatively.",
keywords = "Genetic Algorithm, energy cost, flexibility, online optimization, redundant manipulator",
author = "Long Wu and Wei Song and Linyong Shen and Yanan Zhang and Mamoru Minami",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 ; Conference date: 27-10-2014 Through 30-10-2014",
year = "2014",
month = jan,
day = "21",
doi = "10.1109/SSRR.2014.7017645",
language = "English",
series = "12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings",
}