کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
414201 680825 2008 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Determination of optimum robot base location considering discrete end-effector positions by means of hybrid genetic algorithm
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Determination of optimum robot base location considering discrete end-effector positions by means of hybrid genetic algorithm
چکیده انگلیسی

The performance of a robot manipulator during a process depends on its position relative to the corresponding path. An ill-placed manipulator risks inefficient operation as well as blocks due to singularities. The paper deals with an optimization algorithm to determine the base position and the joint angles of a spatial robot, when the end-effector poses are prescribed, avoiding the singular configurations. The optimization problem is solved through a hybrid heuristic method that combines the advantages of a genetic algorithm, a quasi-Newton algorithm and a constraints handling method. Six cases of a 6-DOF manipulator are studied to verify the feasibility of the proposed algorithm.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 24, Issue 1, February 2008, Pages 50–59
نویسندگان
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