Multi-objective optimization of Stewart-Gough manipulator using global indices

Lara-Molina, Fabian Andres; Rosário, João Maurício; Dumur, Didier

doi:10.1109/aim.2011.6026996

Cited by 22 publications

(15 citation statements)

References 11 publications

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“…The fuzzy dynamic analysis of a transient time-domain system demands the solution of a large number of optimization problems regarding all α-level of interest for each considered time step. Each upper and lower bound of the system analysis at a certain time instant is obtained by using Differential Evolution algorithm [12] since evolutionary strategies have been used to solve optimization problems in robotics with success [13]. The output value of the transient analysis at the evaluated time-step constitutes the objective function of the optimization problem.…”

Section: B Fuzzy Dynamic Analysismentioning

confidence: 99%

Uncertainty Analysis of a 2-DOF Planar Parallel Robot by Means of Fuzzy Dynamic Approach

Lara-Molina

Dumur

Koroishi

2016

2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)

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This paper aims at analyzing the effect of uncertain friction in the active joints of a 2-DOF planar parallel robot using a fuzzy dynamic approach. The uncertain parameters of friction are modeled as fuzzy variables and the dynamic response of the robot is computed by using fuzzy dynamic analysis. The dynamics of the robot under uncertain friction including a computed torque position controller is analyzed. Numerical simulations illustrate the proposed methodology in order to describe and quantify the effect of uncertain frictions on the dynamic performance of the parallel robot.

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Section: B Fuzzy Dynamic Analysismentioning

confidence: 99%

Uncertainty Analysis of a 2-DOF Planar Parallel Robot by Means of Fuzzy Dynamic Approach

Lara-Molina

Dumur

Koroishi

2016

2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)

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“…In the dimensional synthesis, the optimal dimensions of the robot links are determined in order to accomplish a given task (Carbone et al 2007). For this optimisation, many kinds of performance indices as well as optimisation algorithms (Carbone et al 2007;Lara-Molina et al 2010) have been proposed.…”

Section: Introductionmentioning

confidence: 99%

Combined Structural and Dimensional Synthesis of Serial Robot Manipulators

Ramírez

Kotlarski

Ortmaier

2016

ROMANSY 21 - Robot Design, Dynamics and Control

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The present work addresses the unification of the structural and dimensional synthesis of serial robot manipulators. Unlike related publications, the approach does not utilize simplifications of the kinematic structures. In addition, it is also capable of generating manipulators with up to six degrees of freedom. The approach reduces the computational effort by automatically generating the tasksuitable architectures together with their corresponding optimisation parameters. Since the kinematics modelling is one of the main challenges, an algorithm for the numerical solution of the inverse kinematics is introduced. Finally, in order to demonstrate the capability of the method, the optimal manipulator for a pick and place operation is found using kinematic performance indices and particle swarm optimisation.

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“…Wu et al 32 used a conditioning index, velocity index, payload index, and stiffness index as objectives for comparing the performance between 2-RRR, 3-RRR, and 4-RRR planar PKM topologies. Lara-Molina et al 18 used a global conditioning index (GCI), global payload index, and global gradient index as objectives to optimize Stewart manipulator. Hodgins 33 used the workspace, the global stiffness index (GSI), and the global dexterity index (GDI) as objectives to optimize a modified delta robot.…”

Section: Introductionmentioning

confidence: 99%

Genetic and hybrid algorithms for optimization of non-singular 3PRR planar parallel kinematics mechanism for machining application

Rosyid¹,

El‐Khasawneh²,

Alazzam³

2018

Robotica

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SUMMARYThis paper proposes a special non-symmetric topology of a 3PRR planar parallel kinematics mechanism, which naturally avoids singularity within the workspace and can be utilized for hybrid kinematics machine tools. Subsequently, single-objective and multi-objective optimizations are conducted to improve the performance. The workspace area and minimum eigenvalue, as well as the condition number of the homogenized Cartesian stiffness matrix across the workspace, have been chosen as the objectives in the optimization based on their relevance to the machining application. The single-objective optimization is conducted by using a single-objective genetic algorithm and a hybrid algorithm, whereas the multi-objective optimization is conducted by using a multi-objective genetic algorithm, a weighted sum single-objective genetic algorithm, and a weighted sum hybrid algorithm. It is shown that the single-objective optimization gives superior value in the optimized objective, while sacrificing the other objectives, whereas the multi-objective optimization compromises the improvement of all objectives by providing non-dominated values. In terms of the algorithms, it is shown that a hybrid algorithm can either verify or refine the optimal value obtained by a genetic algorithm.

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Multi-objective optimization of Stewart-Gough manipulator using global indices

Cited by 22 publications

References 11 publications

Uncertainty Analysis of a 2-DOF Planar Parallel Robot by Means of Fuzzy Dynamic Approach

Uncertainty Analysis of a 2-DOF Planar Parallel Robot by Means of Fuzzy Dynamic Approach

Combined Structural and Dimensional Synthesis of Serial Robot Manipulators

Genetic and hybrid algorithms for optimization of non-singular 3PRR planar parallel kinematics mechanism for machining application

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