A Genetic Algorithm for Optimization in Conceptual Robot Manipulator

被引：0

作者：

Grecu, Valentin ^{[1
]}

Grecu, Luminita ^{[1
]}

Demian, Gabriela ^{[1
]}

Demian, Mihai ^{[1
]}

机构：

[1] Univ Craiova, Fac Engn & Management Technol Syst, Craiova 220037, Romania

来源：

PROCEEDINGS OF THE 2ND WSEAS INTERNATIONAL CONFERENCE ON ENGINEERING MECHANICS, STRUCTURES AND ENGINEERING GEOLOGY (EMESEG '09) | 2009年

关键词：

Optimization; Genetic Algorithm; Robot Arm; Manipulator;

D O I：

暂无

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

An important criterion of the industrial robots is the dynamic performance of manipulators. The correlations between the parameters which determine the dynamic performance of robot manipulators are complex and highly non-linear. The gearbox size (mass) and the lengths of the arms are parameters that have a large impact on the performance and the cost of robots. In order to perform optimization, a mathematical programming model is developed. An objective function is defined to determine optimal gearbox mass and arm lengths from an acceleration capability perspective. This paper presents a Genetic algorithm procedure which shows how optimization can be used in the early phases of a development process in order to evaluate the potential of a concept. This study considers a three degree of freedom robot manipulator. The mathematical model is coded in the Matlab language and optimized using the Genetic algorithm. The results obtained with optimum values based on Genetic algorithm clearly shows the advantages of the proposed method.

引用

页码：224 / 228

页数：5

共 14 条

[1] Optimal two-degree-of-freedom fuzzy control for locomotion control of a hydraulically actuated hexapod robot [J].

Barai, Ranjit Kumar ;

Nonami, Kenzo .

INFORMATION SCIENCES, 2007, 177 (08) :1892-1915

[2] Experiments in learning distributed control for a hexapod robot [J].

Barfoot, T. D. ;

Earon, E. J. P. ;

D'Eleuterio, G. M. T. .

ROBOTICS AND AUTONOMOUS SYSTEMS, 2006, 54 (10) :864-872

[3]

BELDAK U, 2007, INFORM SCI, V117, P755

[4] A NEW METHOD OF CONSTRAINED OPTIMIZATION AND A COMPARISON WITH OTHER METHODS [J].

BOX, MJ .

COMPUTER JOURNAL, 1965, 8 (01) :42-52

[5]

CAKAR T, ADV ENG SOF IN PRESS

[6]

GHORBANI R, 2007, ENG APPL AR IN PRESS

[7]

Goldberg D.E., 1989, Genetic_Algorithms_in_Search,_Optimization,_and_Machine Learning

[8]

GRAETTINGER T, 1988, J ROBOTICS AUTOMATIO, V4, P132

[9]

Grecu V, 2009, LECT NOTES ENG COMP, P1348

[10]

Holland J., 1975, Adaptation in Natural and Artificial Systems, DOI 10.7551/mitpress/1090.001.0001

← 1 2 →