平面リンク機構のトポロジーと軌道の大域的最適同時探索
Globally Optimal Joint Search of Topology and Trajectory for Planar Linkages
単一アクチュエータで複雑な軌道を描く平面リンク機構の構造と形状を、混合整数凸計画として定式化し大域最適解を求める手法を提案した。
著者: Zherong Pan, Min Liu, Xifeng Gao, Kai Xu, Dinesh Manocha
分類: cs.RO
原文アブストラクト
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using only a single rotational actuator, which is very useful in building low-cost robots. We address the problem of searching for the optimal topology and geometry of these structures. However, since topology changes are non-smooth and non-differentiable, conventional gradient-based searches cannot be used. We formulate this problem as a mixed-integer convex programming (MICP) problem, for which a global optimum can be found using the branch-and-bound (BB) algorithm. Compared to existing methods, our experiments show that the proposed approach finds complex linkage structures more efficiently and generates end-effector trajectories more accurately.
