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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2016

Autores

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

Ata de Conferência Internacional

Título: PROCEEDINGS OF THE SECOND INTERNATIONAL AFRO-EUROPEAN CONFERENCE FOR INDUSTRIAL ADVANCEMENT (AECIA 2015)

Páginas: 433-442

2nd International Afro-European Conference for Industrial Advancement (AECIA)

Engn Sch Digital Sci, AllianSTIC Lab, Villejuif, FRANCE, SEP 09-11, 2015

Indexação

ISI Web of Knowledge - 4 Citações

Scopus - 4 Citações

Outras Informações

ID Authenticus: P-00K-6V3

DOI: 10.1007/978-3-319-29504-6_41

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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 10