Optimization of the Workpiece Location in a Machining Robotic Cell

• Type: Article in International Scientific Journal
• Date: 2011

Authors

lopes, am (Author) FEUP; pires, ejs (Author) Other

Journal

Title: International Journal of Advanced Robotic Systems

Vol. 8 No. 6

Pages: 37-46

ISSN: 1729-8806

Publisher: SAGE

Indexing

ISI Web of Knowledge - 14 Citations

ISI Web of Science

Scopus - 18 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-002-WM5

DOI: 10.5772/45681

Abstract (EN): One important issue in a machining robotic cell is the location of the workpiece with respect to the robot. The feasibility of the task, the quality of the final work and the energy consumption, just to mention a few, are all dependent upon it. This can be formulated as an optimization problem where the objective functions are chosen in order to meet desired performance criteria. Typically, the complexity of the problems and the large number of optimization parameters that, usually, are involved, make the genetic algorithms an appropriate tool in this context. In this paper, two optimization problems are formulated: firstly, the power consumed by the manipulator is considered and the problem is solved using a single-objective genetic algorithm; then the stiffness of the manipulator is also included and the respective optimization problem is solved using a multi-objective genetic algorithm. Simulation results are presented for a parallel manipulator robotic cell.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10