Augmented simulation methods for discrete stochastic optimization with recourse

2020 ◽  
Author(s):  
Tahir Ekin ◽  
Stephen Walker ◽  
Paul Damien
Keyword(s):  
Stochastic Optimization ◽  
Simulation Methods ◽  
Stochastic Optimization With Recourse ◽  
Discrete Stochastic Optimization

Numerical robot kinematics based on stochastic and molecular simulation methods

Robotica ◽  
1996 ◽  
Vol 14 (3) ◽  
pp. 329-337 ◽  
Author(s):  
Thomas Kastenmeier ◽  
Franz J. Vesely
Keyword(s):  
Stochastic Optimization ◽  
Molecular Simulation ◽  
Inverse Kinematic ◽  
Stochastic Methods ◽  
Robot Kinematics ◽  
Simulation Methods ◽  
Inverse Kinematic Problem ◽  
Chain Molecules ◽  
Redundant Robots ◽  
Robot Arms

SUMMARYMultilink robot arms are geometrically similar to chain molecules. We investigate the performance of molecular simulation methods, combined with stochastic methods for optimization, when applied to problems of robotics. An efficient and flexible algorithm for solving the inverse kinematic problem for redundant robots in the presence of obstacle's (and other constraints) is suggested. This “Constrained Kinematics/Stochastic Optimization” (CKSO) method is tested on various standard problems.

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