Determination of optimum robot base location considering discrete end-effector positions by means of hybrid genetic algorithm

Authors:
S. Mitsi;K. -D. Bouzakis;D. Sagris;G. Mansour
Affiliations:
Laboratory for Machine Tools and Manufacturing Engineering, Mechanical Engineering Department, Aristoteles University of Thessaloniki, 54124, Greece;Laboratory for Machine Tools and Manufacturing Engineering, Mechanical Engineering Department, Aristoteles University of Thessaloniki, 54124, Greece;Laboratory for Machine Tools and Manufacturing Engineering, Mechanical Engineering Department, Aristoteles University of Thessaloniki, 54124, Greece;Laboratory for Machine Tools and Manufacturing Engineering, Mechanical Engineering Department, Aristoteles University of Thessaloniki, 54124, Greece
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2008

Citing 5
Cited 7

Adaptation in natural and artificial systems

Adaptation in natural and artificial systems
An Introduction to Genetic Algorithms for Scientists and Engineers

An Introduction to Genetic Algorithms for Scientists and Engineers
Optimization Techniques with FORTRAN

Optimization Techniques with FORTRAN
Genetic AlgorithmsNumerical Optimizationand Constraints

Proceedings of the 6th International Conference on Genetic Algorithms
Optimal placement of a two-link planar manipulator using a genetic algorithm

Robotica

A genetic algorithm based strategy for redundancy resolution with multiple criteria

ICAI'08 Proceedings of the 9th WSEAS International Conference on International Conference on Automation and Information
Compact design of work cell with robot arm and positioning table under a task completion time constraint

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Improving feasibility of robotic milling through robot placement optimisation

Robotics and Computer-Integrated Manufacturing
Iterative strategies for obstacle avoidance of a redundant manipulator

WSEAS Transactions on Mathematics
Iterative genetic algorithm based strategy for obstacles avoidance of a redundant manipulator

AMERICAN-MATH'10 Proceedings of the 2010 American conference on Applied mathematics
Design and analysis of an fMRI compatible haptic robot

Robotics and Computer-Integrated Manufacturing
Optimal robot positioning using task-dependent and direction-selective performance indexes: General definitions and application to a parallel robot

Robotics and Computer-Integrated Manufacturing

Quantified Score

Hi-index	0.00

Visualization

Abstract

The performance of a robot manipulator during a process depends on its position relative to the corresponding path. An ill-placed manipulator risks inefficient operation as well as blocks due to singularities. The paper deals with an optimization algorithm to determine the base position and the joint angles of a spatial robot, when the end-effector poses are prescribed, avoiding the singular configurations. The optimization problem is solved through a hybrid heuristic method that combines the advantages of a genetic algorithm, a quasi-Newton algorithm and a constraints handling method. Six cases of a 6-DOF manipulator are studied to verify the feasibility of the proposed algorithm.