Task-based design optimization of serial robot manipulators

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2015

Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Industrial robotic manipulators are designed and built to perform certain predetermined tasks. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and/or performance constraints can be specified in terms of the required end-effector positions, orientations along the task trajectory. In this work, we define, develop and test a methodology that can generate optimal manipulator geometric structures based on the task requirements. Another objective of this work is to guarantee task performance under user defined joint constraints. Using this methodology, task-specific optimal manipulator structures can be generated that guarantee task performance under a set of operating constraints.

Section: Existing Approaches and Limitationsmentioning

confidence: 99%

Using task descriptions for designing optimal task specific manipulators

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2015

“…In [1], Al-Dios et al, developed a method for optimizing the link lengths, masses and trajectory parameters of a serial manipulator with known DH table using direct non-gradient search optimization. This work was focused to optimize the task time and joint torques for a specific manipulator task.…”

Section: Task-based Design Approachmentioning

confidence: 99%

“…Ideally speaking, one should easily be able to design a manipulator based on its application. The rapid growth in manufacturing technologies has increased the need for design and development of optimal machinery [1]. No longer is the emphasis on machinery that works but on machinery that works faster, consumes less power, and is more functional.…”

Section: Introductionmentioning

confidence: 99%

Goal Directed Synthesis of Serial Manipulators Based on Task Descriptions

Chaos Modeling and Control Systems Design

Mahmood

2014

Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters) of a non-redundant six degree of freedom serial manipulator from task descriptions. This methodology is devised to investigate possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations selected. Next, these candidate structures are then tested to see if they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Finally, the synthesized structures are tested to see if they perform the task under the operating constraints. In this work, we also present a novel approach for computing the inverse kinematics using Particle Swarm Optimization (PSO).

“…Al-Dios et al [20] , developed a method for optimizing the link lengths, masses and trajectory parameters of a serial manipulator with known DH table using direct non-gradient search optimization. This work was focused to optimize the task time and joint torques for a specific manipulator task.…”

Section: Existing Approachesmentioning

confidence: 99%

Task based synthesis of serial manipulators

Journal of Advanced Research

2015

Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters) of a non-redundant six degree of freedom serial manipulator from task descriptions. In this work we define, develop and test a methodology to design optimal manipulator configurations based on task descriptions. This methodology is devised to investigate all possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations are selected. Next, these candidate structures are tested to see whether they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Additionally least power consuming configurations are also identified.