Design of a Parallel Robotic Manipulator using Evolutionary Computing Regular Paper

• Tipo: Artigo em Revista Científica Internacional
• Data: 2012

Autores

lopes, am (Autor) FEUP; pires, ejs (Autor) FEUP; barbosa, mr (Autor) FEUP

Revista

Título: International Journal of Advanced Robotic Systems

Vol. 9

Página Final: 27

ISSN: 1729-8806

Editora: SAGE

Indexação

ISI Web of Knowledge - 10 Citações

Scopus - 11 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-002-A51

DOI: 10.5772/50922

Abstract (EN): In this paper the kinematic design of a 6-dof parallel robotic manipulator is analysed. Firstly, the condition number of the inverse kinematic jacobian is considered as the objective function, measuring the manipulator's dexterity and a genetic algorithm is used to solve the optimization problem. In a second approach, a neural network model of the analytical objective function is developed and subsequently used as the objective function in the genetic algorithm optimization search process. It is shown that the neuro-genetic algorithm can find close to optimal solutions for maximum dexterity, significantly reducing the computational burden. The sensitivity of the condition number in the robot's workspace is analysed and used to guide the designer in choosing the best structural configuration. Finally, a global optimization problem is also addressed.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 13