A Fast and Robust Kinematic Model for a 12 DoF Hyper-Redundant Robot Positioning: an Optimization Proposal

• Type: Article in International Conference Proceedings Book
• Date: 2017

Authors

Lima, J (Author) Other; Pereira, AI (Author) Other; Paulo Gomes da Costa (Author) FEUP; Pinto, A (Author) FEUP; Pedro Luís Cerqueira Gomes da Costa (Author) FEUP

Conference proceedings International

Title: PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON NUMERICAL ANALYSIS AND APPLIED MATHEMATICS 2016 (ICNAAM-2016)

International Conference on Numerical Analysis and Applied Mathematics (ICNAAM)

Rhodes, GREECE, SEP 19-25, 2016

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 3 Citations

Other information

Authenticus ID: P-00N-2D7

DOI: 10.1063/1.4992429

Abstract (EN): This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 4