DocumentCode :
3218798
Title :
An appropriate tool for optimizing the workspace of 3R robot manipulator
Author :
Panda, Siddhartha ; Mishra, Debahuti ; Biswal, B.B.
Author_Institution :
Manuf. Sci. & Eng., VSS Univ. of Technol., Burla, India
fYear :
2009
fDate :
9-11 Dec. 2009
Firstpage :
1156
Lastpage :
1161
Abstract :
Robotic manipulators with three-revolute (3R) positional configurations are very common in the industrial robots (IRs). The capability of a robot largely depends on the workspace (WS) of the manipulator apart from other parameters. With the constraints in mind the optimization of the workspace is of prime importance in designing the manipulator. The present work aims at obtaining an optimal design of manipulators with three-revolute joints. The optimization problem is formulated considering the workspace volume as the objective function, while constraints are imposed to control the total area. Subsequently the problem is solved using Sequential quadratic programming (SQP, fminmax, goal attainment, constrained non linear minimization) and genetic algorithms (GAs) and a comparision is made. The four different optimization techniques were used to solve numerical example imposing same condition to demonstrate the efficiency of the optimization processes. Numerical example is presented to validate the proposed methodology.
Keywords :
end effectors; genetic algorithms; industrial manipulators; manipulator kinematics; position control; quadratic programming; 3R robot manipulator; constrained nonlinear minimization; end effectors; genetic algorithm; goal attainment; industrial robots; manipulator design; sequential quadratic programming; three-revolute joints; three-revolute positional configuration; workspace optimization; workspace volume; Appropriate technology; Constraint optimization; Genetic algorithms; Manipulators; Manufacturing; Minimization methods; Quadratic programming; Robot kinematics; Service robots; Variable structure systems; constrained non; genetic algorithm; goal attainment; linear minimization; robot workspace; sequential quadrataic programming;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Nature & Biologically Inspired Computing, 2009. NaBIC 2009. World Congress on
Conference_Location :
Coimbatore
Print_ISBN :
978-1-4244-5053-4
Type :
conf
DOI :
10.1109/NABIC.2009.5393780
Filename :
5393780
Link To Document :
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