Title :
Dynamic optimization of a robot manipulator based on GA
Author :
Zhang, Yong-gui ; Xie, Li-ming ; Shen, Hao ; Jin, Lan
Author_Institution :
Key Lab. of Digital Manuf. Technol. & Applic., Lanzhou Univ. of Technol., Lanzhou, China
Abstract :
Aimed at a 6 degrees of freedom (DOFs) articulated robot manipulator, using Newton-Euler method to establish it´s dynamical model, then to find out the pose of the maximal joints driving moment and regard this pose as the worst case of the robot, some dynamic parameters of the manipulator has been optimized by using genetic algorithm(GA) and employing the model as fitness function of GA so as to improve the dynamical performance of the robot manipulator.
Keywords :
Newton method; genetic algorithms; manipulators; 6-degrees of freedom; Newton-Euler method; articulated robot manipulator; dynamic optimization; fitness function model; genetic algorithm; maximal joint driving moment; Design optimization; Educational robots; Educational technology; Equations; Genetic algorithms; Manipulator dynamics; Optimization methods; Orbital robotics; Robot kinematics; Torque; Dynamics Optimization; Genetic Algorithm; Robot; Worst Case;
Conference_Titel :
Machine Learning and Cybernetics, 2009 International Conference on
Conference_Location :
Baoding
Print_ISBN :
978-1-4244-3702-3
Electronic_ISBN :
978-1-4244-3703-0
DOI :
10.1109/ICMLC.2009.5212283
