Robot workspace optimization based on a novel local and global performance indices
IEEE International Symposium on Industrial Electronics, Dubrovnik, Hırvatistan, 20 - 23 Haziran 2005, ss.1593-1598, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/isie.2005.1529170
- Basıldığı Şehir: Dubrovnik
- Basıldığı Ülke: Hırvatistan
- Sayfa Sayıları: ss.1593-1598
- Kocaeli Üniversitesi Adresli: Evet
Özet
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.