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An Optimization Approach for the Inverse Kinematics of a Highly Redundant Robot

Title
An Optimization Approach for the Inverse Kinematics of a Highly Redundant Robot
Type
Article in International Conference Proceedings Book
Year
2016
Authors
Paulo Gomes da Costa
(Author)
FEUP
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Lima, J
(Author)
Other
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Pereira, AI
(Author)
Other
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Pinto, A
(Author)
FEUP
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Conference proceedings International
Pages: 433-442
2nd International Afro-European Conference for Industrial Advancement (AECIA)
Engn Sch Digital Sci, AllianSTIC Lab, Villejuif, FRANCE, SEP 09-11, 2015
Other information
Authenticus ID: P-00K-6V3
Abstract (EN): This paper describes a robot with 12 degrees of freedom for pick-and-place operations using bricks. In addition, an optimization approach is proposed, which determines the state of each joint (that establishes the pose for the robot) based on the target position while minimizing the effort of the servomotors avoiding the inverse kinematics problem, which is a hard task for a 12 DOF robot manipulator. Therefore, it is a multi-objective optimization problem that will be solved using two optimization methods: the Stretched Simulated Annealing method and the NSGA II method. The experiments conducted in a simulation environment prove that the proposed approach is able to determine a solution for the inverse kinematics problem. A real robot formed by several servomotors and a gripper is also presented in this research for validating the solutions.
Language: English
Type (Professor's evaluation): Scientific
No. of pages: 10
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A Fast and Robust Kinematic Model for a 12 DoF Hyper-Redundant Robot Positioning: an Optimization Proposal (2017)
Article in International Conference Proceedings Book
Lima, J; Pereira, AI; Paulo Gomes da Costa; Pinto, A; Pedro Luís Cerqueira Gomes da Costa
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