A simulated annealing optimization algorithm implemented within an operator-assist interface

The assist interface suggests configuration options to the system's operator. As an example, this paper develops an assist interface for a robotic system called the dual-arm work module (DAWM). The DAWM has seventeen independent degrees of freedom arranged to give the system five degrees of kinematic redundancy. These five extra kinematic resources (extra joints) give the DAWM the versatility to perform a wide range of tasks, including: disassembly, cutting, material transport, and decontamination. In the current application scenario, the operator positions each redundant joint directly and independently of the other joints. Because of obstacles and kinematic coupling, even an experienced operator may need to reposition the extra joints several times while performing a task. The simulated annealing optimization algorithm considers obstacles and performance criteria while generating suggested options for positioning the extra joints (configuration options). The operator interface then presents these options using computer graphics. The interface should reduce the amount of time the operator spends positioning the extra joints and perhaps improve the quality of the work.