Robot workspace optimization based on a novel local and global performance indices

Kucuk S., Bingul Z.

IEEE International Symposium on Industrial Electronics, Dubrovnik, Croatia, 20 - 23 June 2005, pp.1593-1598, (Full Text) identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/isie.2005.1529170
  • City: Dubrovnik
  • Country: Croatia
  • Page Numbers: pp.1593-1598
  • Kocaeli University Affiliated: Yes

Abstract

In this paper, a novel performance index is introduced for the kinematics optimization of serial robot manipulators. The serial robot manipulators used in order to compare optimization results were classified as in [1]. The new performance index is a combination of a manipulability measure and condition number used by previous authors. To find the optimum link lengths and volumes of these robot manipulators, two design objectives are used: maximize the workspace area covered by the robot manipulator and maximize the new local index. As examples, two spherical three-link robot manipulators are examined based on above design objectives. Finally, optimization results of these robot manipulators are obtained and compared to each other.