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

Hyeongjun Kim, Hiroshi Yamakawa

    研究成果: Conference contribution

    3 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルProceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012
    ページ196-200
    ページ数5
    DOI
    出版ステータスPublished - 2012
    イベント2012 1st International Conference on Innovative Engineering Systems, ICIES 2012 - Alexandria
    継続期間: 2012 12月 72012 12月 9

    Other

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

    ASJC Scopus subject areas

    • 工学(その他)
    • 制御およびシステム工学

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