Convex Multi-criteria Design Optimization of Robotic Manipulators via Sum-of-Squares Programming

Wankun Sirichotiyakul; Volkan Patoglu; Aykut Satici

doi:10.1109/IRC.2019.00089

Convex Multi-criteria Design Optimization of Robotic Manipulators via Sum-of-Squares Programming

Wankun Sirichotiyakul
, Volkan Patoglu
, Aykut Satici

Mechanical and Biomedical Engineering Department

Boise State University
Sabanci University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a general framework for optimization of robotic manipulators via sums-of-squares (SoS) programming (semidefinite convex optimization) with multiple design objectives. Both kinematic and dynamic performance measures are discussed and an optimization problem for a proof-of-concept robotic manipulator has been formulated. SoS programming is shown to promise advantages as it can provide globally optimal results up to machine precision and scales much better with respect to the number of design variables than other methods which can obtain globally optimal solutions.

Original language	English
Title of host publication	Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	439-440
Number of pages	2
ISBN (Electronic)	9781538692455
DOIs	https://doi.org/10.1109/IRC.2019.00089
State	Published - 26 Mar 2019
Event	3rd IEEE International Conference on Robotic Computing, IRC 2019 - Naples, Italy Duration: 25 Feb 2019 → 27 Feb 2019

Publication series

Name	Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019

Conference

Conference	3rd IEEE International Conference on Robotic Computing, IRC 2019
Country/Territory	Italy
City	Naples
Period	25/02/19 → 27/02/19

Keywords

haptics
mechanism design
sum of squares optimization

Access to Document

10.1109/IRC.2019.00089

Cite this

Sirichotiyakul, W., Patoglu, V., & Satici, A. (2019). Convex Multi-criteria Design Optimization of Robotic Manipulators via Sum-of-Squares Programming. In Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019 (pp. 439-440). Article 8675587 (Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRC.2019.00089

Sirichotiyakul, Wankun ; Patoglu, Volkan ; Satici, Aykut. / Convex Multi-criteria Design Optimization of Robotic Manipulators via Sum-of-Squares Programming. Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 439-440 (Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019).

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title = "Convex Multi-criteria Design Optimization of Robotic Manipulators via Sum-of-Squares Programming",

abstract = "This paper presents a general framework for optimization of robotic manipulators via sums-of-squares (SoS) programming (semidefinite convex optimization) with multiple design objectives. Both kinematic and dynamic performance measures are discussed and an optimization problem for a proof-of-concept robotic manipulator has been formulated. SoS programming is shown to promise advantages as it can provide globally optimal results up to machine precision and scales much better with respect to the number of design variables than other methods which can obtain globally optimal solutions.",

keywords = "haptics, mechanism design, sum of squares optimization",

author = "Wankun Sirichotiyakul and Volkan Patoglu and Aykut Satici",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 3rd IEEE International Conference on Robotic Computing, IRC 2019 ; Conference date: 25-02-2019 Through 27-02-2019",

year = "2019",

month = mar,

day = "26",

doi = "10.1109/IRC.2019.00089",

language = "English",

series = "Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Sirichotiyakul, W, Patoglu, V & Satici, A 2019, Convex Multi-criteria Design Optimization of Robotic Manipulators via Sum-of-Squares Programming. in Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019., 8675587, Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 439-440, 3rd IEEE International Conference on Robotic Computing, IRC 2019, Naples, Italy, 25/02/19. https://doi.org/10.1109/IRC.2019.00089

Convex Multi-criteria Design Optimization of Robotic Manipulators via Sum-of-Squares Programming. / Sirichotiyakul, Wankun; Patoglu, Volkan; Satici, Aykut.
Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 439-440 8675587 (Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper presents a general framework for optimization of robotic manipulators via sums-of-squares (SoS) programming (semidefinite convex optimization) with multiple design objectives. Both kinematic and dynamic performance measures are discussed and an optimization problem for a proof-of-concept robotic manipulator has been formulated. SoS programming is shown to promise advantages as it can provide globally optimal results up to machine precision and scales much better with respect to the number of design variables than other methods which can obtain globally optimal solutions.

AB - This paper presents a general framework for optimization of robotic manipulators via sums-of-squares (SoS) programming (semidefinite convex optimization) with multiple design objectives. Both kinematic and dynamic performance measures are discussed and an optimization problem for a proof-of-concept robotic manipulator has been formulated. SoS programming is shown to promise advantages as it can provide globally optimal results up to machine precision and scales much better with respect to the number of design variables than other methods which can obtain globally optimal solutions.

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KW - mechanism design

KW - sum of squares optimization

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DO - 10.1109/IRC.2019.00089

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BT - Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019

PB - Institute of Electrical and Electronics Engineers Inc.

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Sirichotiyakul W, Patoglu V, Satici A. Convex Multi-criteria Design Optimization of Robotic Manipulators via Sum-of-Squares Programming. In Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 439-440. 8675587. (Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019). doi: 10.1109/IRC.2019.00089

Convex Multi-criteria Design Optimization of Robotic Manipulators via Sum-of-Squares Programming

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