Isotropic design optimization of robotic manipulators using a genetic algorithm method

Author

Khatami, S. ; Sassani, F.

Author_Institution

Dept. of Mech. Eng., British Columbia Univ., Vancouver, BC, Canada

fYear

2002

fDate

2002

Firstpage

562

Lastpage

567

Abstract

In this paper, the kinematic isotropy has been considered as the performance evaluation criterion for optimal design of robotic manipulators. The global isotropy index (or GII) has been used as the measure of isotropy, which is based on the robot\´s behavior in its entire workspace. A "genetic algorithm" has been developed to solve the minimax optimization formulation of robot design in order to find the optimal design parameters such as link lengths of the best isotropic robot configurations at optimal working points of the end-effector. The algorithm has been implemented to optimize globally the throughout of the whole robot workspace. The method is demonstrated for 2-DOF robotic manipulators.

Keywords

genetic algorithms; manipulator kinematics; minimax techniques; performance index; genetic algorithms; global isotropy index; kinematic isotropy; link lengths; minimax optimization; performance evaluation; robot configurations; robotic manipulators; Algorithm design and analysis; Angular velocity; Design optimization; Equations; Genetic algorithms; Jacobian matrices; Kinematics; Manipulators; Optimization methods; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2002. Proceedings of the 2002 IEEE International Symposium on

ISSN

2158-9860

Print_ISBN

0-7803-7620-X

Type

conf

DOI

10.1109/ISIC.2002.1157824

Filename

1157824