Title :
Multiobjective design optimization of counterweight balancing of a robot arm using genetic algorithms
Author :
Coello, Carlos A Coello ; Christiansen, Alan D. ; Aguirre, Arturo Hernández
Author_Institution :
Dept. of Comput. Sci., Tulane Univ., New Orleans, LA, USA
Abstract :
We present a hybrid approach to optimize the counterweight balancing of a robot arm, which uses a combination of a genetic algorithm (GA) with the min-max multiobjective optimization method to get the Pareto optimal set of solutions. This set corresponds to several possible robot designs from which the most appropriate has to be chosen by the designer. Our approach is compared to a more traditional min-max search technique in which a combination of random and sequential search was used to generate the Pareto optimal solutions. Our results show how the GA is able to get solutions with a lower deviation from the ideal vector
Keywords :
genetic algorithms; manipulator dynamics; minimax techniques; probability; search problems; Pareto optimal set; counterweight balancing; genetic algorithms; min-max multiobjective optimization; min-max search technique; multiobjective design optimization; random search; robot arm; robot designs; sequential search; Algorithm design and analysis; Computer science; Design optimization; Genetic algorithms; Manipulators; Optimization methods; Orbital robotics; Robot kinematics; Service robots; Space technology;
Conference_Titel :
Tools with Artificial Intelligence, 1995. Proceedings., Seventh International Conference on
Conference_Location :
Herndon, VA
Print_ISBN :
0-8186-7312-5
DOI :
10.1109/TAI.1995.479374