Optimum Robot Design Based on Task Specifications Using Evolutionary Techniques and Kinematic, Dynamic, and Structural Constraints

Abstract

In this paper, we discuss optimum robot design based on task specifications using evolutionary optimization approaches. The three evolutionary optimization approaches employed Simple Genetic Algorithms, Genetic Algorithms with elitism, and Differential Evolution. These approaches were used for the optimum design of SCARA and articulated type manipulators. The objective function minimizes the torque required for the motion subject to deflection and physical constraints with the design variables being the link physical characteristics (length and cross sectional area parameters). In this work, we experimented with link various cross sections. The main findings of this research are that the differential evolution converges quickly, requires significantly less number of iterations and achieves better results.

Optimal manipulator parameter selection using evolutionary optimization technique

“…motions in the three unspecified motion coordinates. Shiakolas et al [10] applied three evolutionary techniques to optimize the 916 B.K. Rout and R.K. Mittal required torque of robots for a defined motion subject to different constraints.…”

“…The optimization problem for the 2-DOF RR planar manipulator has been formulated as given in Equations (7)- (10). As the manipulator works in the xy plane the positional error " i becomes…”

A survey on evolutionary-aided design in robotics

“…Genotype representations in the literature use binary [36][37][38], integer [39], real number [40][41][42] and string [43] encoding with many applying either or a combination of the different encoding methods. The basic genome types could also be placed in a matrix [44], vector [34,[45][46][47], graph [48][49][50][51][52][53] and tree [54][55][56][57][58][59][60][61][62]. Further, in other representations, [34,63] applied the concept of a hox gene for encoding body morphology and [39,64] applied Compositional Pattern-Producing Networks (CPPN) based encoding .…”

“…In the single objective EA discussed in [67], the offspring immediately replaced parent if found to be fitter, and when multi-objective EA was used, offspring was compared with every individual in the population before replacement. Variable replacement strategy was used in [56] and elitism was excercised in [35,38,41,46,51,52,64,81,90]. Truncation strategy appeared in [34], and elitism with tournament selection was applied by Clark et al [68] and Moore et al [36].…”

On the optimum synthesis of six-bar linkages using differential evolution and the geometric centroid of precision positions technique

“…DE based optimization techniques were applied to optimum robot design considering kinematic, dynamic and structural constraints, and to optimum synthesis of four-bar mechanisms [5,27]. In this work, we investigate the application of DE to the synthesis of six-bar mechanisms.…”