Some branch and bound techniques for nonlinear optimization
Mathematical Programming: Series A and B - Mathematical Models and Their Solutions
Computer
Several algorithms of global optimal search
Advances in Engineering Software
Comparison of global search methods for design optimization using simulation
WSC '91 Proceedings of the 23rd conference on Winter simulation
Robot Dynamics and Control
A Haptic Robot Reveals the Adaptation Capability of Individuals with Multiple Sclerosis
International Journal of Robotics Research
Optimal Dimensional Synthesis of a Dual Purpose Haptic Exoskeleton
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Optimal manipulator design for a cucumber harvesting robot
Computers and Electronics in Agriculture
Optimal Transseptal Puncture Location for Robot-Assisted Left Atrial Catheter Ablation
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
New kinematic metric for quantifying surgical skill for flexible instrument manipulation
IPCAI'10 Proceedings of the First international conference on Information processing in computer-assisted interventions
Link mass optimization of serial robot manipulators using genetic algorithm
KES'06 Proceedings of the 10th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part I
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A new global isotropy index (GII) is proposed to quantify the configuration independent isotropy of a robot's Jacobian or mass matrix. A new discrete global optimization algorithm is also proposed to optimize either the GII or some local measure without placing any conditions on the objective function. The algorithm is used to establish design guidelines and a globally optimal architecture for a planar haptic interface from both a kinematic and dynamic perspective and to choose the optimum geometry for a 6-DOF Stewart Platform. The algorithm demonstrates consistent effort reductons of up to six orders of magnitude over global searching with low sensitivity to initial conditions.