@inproceedings{40c60458ceef41c6be0a34a1893192fa,
title = "Controlled infeasibility for physically feasible optimal motion planning of manipulators",
abstract = "In this presentation, infeasible solutions of the optimal motion planning problems are treated through constraint prioritization and associated weight functions. The merit function and elastic mode of a sequential quadratic programming algorithm are used as main driving formulations. In the proposed multiple-loop iterative algorithm, constraints are first normalized according to the current values at every certain number of iterations and then the priority weights are assigned. The algorithm was demonstrated using a threedegree of freedom planar manipulator for two problems such as obstacle avoidance and excessive external load for static configuration and a dynamic motion. The results of those two examples show reliable and physically consistent manipulator configurations which demonstrate the valid formulation of the prioritized constraints.",
author = "Kim, {Joo H.} and Joo, {Chang B.}",
year = "2012",
doi = "10.1115/DETC2012-71342",
language = "English",
isbn = "9780791845035",
series = "Proceedings of the ASME Design Engineering Technical Conference",
number = "PARTS A AND B",
pages = "1339--1345",
booktitle = "ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012",
edition = "PARTS A AND B",
note = "ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 ; Conference date: 12-08-2012 Through 12-08-2012",
}