Optimization of robotic manipulators parameters modeled with integrated equations of actuators and links

Author

Aghanouri, M. ; Habibollahi, A. ; Esmaeili, A. ; Faghihian, H. ; Koloushani, M.

Author_Institution

Dept. of Mech. Eng., Isfahan Univ. of Technol., Isfahan, Iran

fYear

2011

fDate

6-8 Oct. 2011

Firstpage

31

Lastpage

36

Abstract

Optimizing system parameters such as energy is a significant issue in robotics. System modeling is an effective factor to reach this goal. In robot modeling, a DC motor is mostly modeled as a torque source. In this paper a robotic manipulator with DC motors as its actuators, is modeled as a electromechanical system that its equations of electrical and mechanical parts are obtained integratively; which allows us to control the system more efficiently. Dynamic programming is used to optimize system parameters. This will happen when performance index which includes energy and path parameters, is minimized. At last the optimum path is derived.

Keywords

DC motors; actuators; dynamic programming; manipulators; DC motor; actuators-links integrated equations; dynamic programming; electromechanical system; performance index; robot modeling; robotic manipulator parameter optimization; system modeling; DC motors; Equations; Manipulators; Mathematical model; Performance analysis; Torque; Optimization; dynamic programming; integrated equations; robotic manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrodynamics and Mechatronics (SCE III), 2011 3rd International Students Conference on

Conference_Location

Opole

Print_ISBN

978-1-4244-9694-5

Type

conf

DOI

10.1109/SCE.2011.6092120

Filename

6092120