Design of a Parallel Robotic Manipulator Using Evolutionary Computing

Lopes, António M.; Pires, E. J. Solteiro; Barbosa, Manuel R.

doi:10.5772/50922

Cited by 8 publications

(8 citation statements)

References 31 publications

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“…Cooperating robotic manipulators are often used in industrial applications. 10,21 In both cases, the method is validated using ABB IRB 120 robotic manipulator. In observed cases, robotic manipulators are transporting a prismatic shaped object with weight of 2 kg along the calculated path.…”

Section: Casesmentioning

confidence: 99%

Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms

Šegota

Anđelić

Lorencin

et al. 2020

International Journal of Advanced Robotic Systems

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Lowering joint torques of a robotic manipulator enables lowering the energy it uses as well as increase in the longevity of the robotic manipulator. This article proposes the use of evolutionary computation algorithms for optimizing the paths of the robotic manipulator with the goal of lowering the joint torques. The robotic manipulator used for optimization is modelled after a realistic six-degree-of-freedom robotic manipulator. Two cases are observed and these are a single robotic manipulator carrying a weight in a point-to-point trajectory and two robotic manipulators cooperating and moving the same weight along a calculated point-to-point trajectory. The article describes the process used for determining the kinematic properties using Denavit–Hartenberg method and the dynamic equations of the robotic manipulator using Lagrange–Euler and Newton–Euler algorithms. Then, the description of used artificial intelligence optimization algorithms is given – genetic algorithm using random and average recombination, simulated annealing using linear and geometric cooling strategy and differential evolution. The methods are compared and the results show that the genetic algorithm provides best results in regard to torque minimization, with differential evolution also providing comparatively good results and simulated annealing giving the comparatively weakest results while providing smoother torque curves.

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Section: Casesmentioning

confidence: 99%

Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms

Šegota

Anđelić

Lorencin

et al. 2020

International Journal of Advanced Robotic Systems

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“…Recently, evolutionary computation has been widely used to optimize robotic systems: for example, parallel robotic manipulators [19], motion planning for swarm robots [20] and humanoid motion planning [21]. We tuned the 10 new parameters D1~D4, S1~S5 and O1 to find the optimal parameter set using an ES.…”

Section: Evolutionary Strategymentioning

confidence: 99%

Optimization of an Autonomous Car Controller Using a Self-Adaptive Evolutionary Strategy

Kim

2012

International Journal of Advanced Robotic Systems

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Autonomous cars control the steering wheel, acceleration and the brake pedal, the gears and the clutch using sensory information from multiple sources. Like a human driver, it understands the current situation on the roads from the live streaming of sensory values. The decision-making module often suffers from the limited range of sensors and complexity due to the large number of sensors and actuators. Because it is tedious and difficult to design the controller manually from trial-anderror, it is desirable to use intelligent optimization algorithms. In this work, we propose optimizing the parameters of an autonomous car controller using selfadaptive evolutionary strategies (SAESs) which co-evolve solutions and mutation steps for each parameter. We also describe how the most generalized parameter set can be retrieved from the process of optimization. Open-source car racing simulation software (TORCS) is used to test the goodness of the proposed methods on 6 different tracks. Experimental results show that the SAES is competitive with the manual design of authors and a simple ES.

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“…In the selection of the parallel mechanism type and dimensions phase, as well as in the process of optimization of the adopted solution, there are a greater number of criteria, which need to be fulfilled [10]. Thus, the designing process becomes significantly more complex, since it is impossible to meet all the criteria at once.…”

Section: Process Of Selecting the Parallel Mechanism Type And Dimensionsmentioning

confidence: 99%

“…As a result, a number of pieces of research were conducted [5][6][7] with a view to defining the dimensions and topological characteristics of the workspace of parallel mechanism-based robots and machine tools. The complexity of the workspace geometric shape in these mechanisms is one of the reasons that the obtained results have been used lately to define the designing methodology for parallel mechanism-based robots and machine tools [8][9][10]. As the basic designing methodology, appropriate criteria resulting from analytical and numerical analyses of the workspace shapes and dimensions are used [8,12].…”

Section: Introductionmentioning

confidence: 99%

Program Suite for Conceptual Designing of Parallel Mechanism-Based Robots and Machine Tools

Tabaković

Zeljković

Gatalo

et al. 2013

International Journal of Advanced Robotic Systems

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In the development of robots and machine tools, in addition to conventional and serial structures, parallel mechanism-based kinematic structures have been used over a longer period of time. Aside from a number of advantages, the irregular shape and relatively small dimensions of the workspace formed by parallel mechanisms rank among the major weaknesses of their application. Accordingly, this fact has to be taken into consideration in the process of designing parallel mechanism-based robots or machine tools. This paper describes the categorization of criteria for the conceptual design of parallel mechanism-based robots or machine tools, resulting from workspace analysis as well as the procedure of their defining. Furthermore, it also presents the designing methodology that was implemented into the program for the creation of a robot or machine tool space model and the optimization of the resulting solution. For verification of the criteria and the programme suite, three common (conceptually different) mechanisms with a similar mechanical structure and kinematic characteristics were used.

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Design of a Parallel Robotic Manipulator Using Evolutionary Computing

Cited by 8 publications

References 31 publications

Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms

Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms

Optimization of an Autonomous Car Controller Using a Self-Adaptive Evolutionary Strategy

Program Suite for Conceptual Designing of Parallel Mechanism-Based Robots and Machine Tools

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