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
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
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
Journal: Robotics and Computer-Integrated Manufacturing - Volume 24, Issue 1, February 2008, Pages 50–59
نویسندگان
S. Mitsi, K.-D. Bouzakis, D. Sagris, G. Mansour,