Cart (Loading....) | Create Account
Close category search window
 

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Hooper, R. ; Dept. of Mech. Eng., Texas Univ., Austin, TX, USA

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

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:1 )

Date of Conference:

20-25 Apr 1997

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.