Penalty approach for a constrained optimization to solve on-line the inverse kinematic problem of redundant manipulators.
Amar Ramdane-CherifVéronique PerdereauMichel DrouinPublished in: ICRA (1996)
Keyphrases
- constrained optimization
- penalty function
- lagrange multipliers
- objective function
- inverse kinematics
- constrained optimization problems
- constraint handling
- unconstrained optimization
- augmented lagrangian
- inequality constraints
- interval analysis
- penalty functions
- mathematical programming
- neural network
- evolutionary strategy
- nonlinear programming
- path planning
- end effector
- lagrange multiplier method