Multi-objective optimization for number of joints and lengths of multi-jointed robot arm

Hyeongjun Kim, Hiroshi Yamakawa

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    In this paper, we deal with optimization problems of the number of joints and lengths of multi-jointed rigid arms. We assume target points to yield a path by Spline function and formulate optimization problems with multiple loops to find optimum number of joints and lengths. The objective of the optimum problem can be taken among various functions. The optimal problem is formulated here by multi-objective functions minimizing driving energy and maximizing manipulability measure. It is a difficult problem to find the optimum number of joints and lengths of a multi-jointed rigid robot arm directly by mathematical programing. Then, we utilize an algorithm based on Genetic Algorithm (GA) in order to solve inverse dynamic problems and optimization problems. The obtained results are examined from many points of view.

    Original languageEnglish
    Title of host publicationProceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012
    Pages196-200
    Number of pages5
    DOIs
    Publication statusPublished - 2012
    Event2012 1st International Conference on Innovative Engineering Systems, ICIES 2012 - Alexandria
    Duration: 2012 Dec 72012 Dec 9

    Other

    Other2012 1st International Conference on Innovative Engineering Systems, ICIES 2012
    CityAlexandria
    Period12/12/712/12/9

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    Keywords

    • Driving energy
    • Genetic algorithm
    • Manipulability measure
    • Multi-Jointed Robot Arm
    • Multi-objective optimization
    • Optimun number of joints and lengths

    ASJC Scopus subject areas

    • Engineering (miscellaneous)
    • Control and Systems Engineering

    Cite this

    Kim, H., & Yamakawa, H. (2012). Multi-objective optimization for number of joints and lengths of multi-jointed robot arm. In Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012 (pp. 196-200). [6530869] https://doi.org/10.1109/ICIES.2012.6530869