Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
414201 | Robotics and Computer-Integrated Manufacturing | 2008 | 10 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
S. Mitsi, K.-D. Bouzakis, D. Sagris, G. Mansour,