By Topic

Task Based Optimal Geometric Design and Positioning of Serial Robotic Manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)

This paper devises a multi-objective cost function which elaborates different constraints as well as an optimality criterion for design of serial robotic manipulators. In practice, inclusion of different constraints drastically limits the possible range of design parameters. The result of minimizing this multi-objective cost function is compared with another method which locates an optimal solution using a graphical representation. The effectiveness of the proposed cost function is demonstrated by a unified solution for both methods. In addition, possible tolerance of design parameters is compensated by considering a neighborhood around these parameters. Through an illustrative example, it is shown that the inclusiveness and flexibility of the proposed method makes it suitable for geometric design optimization of robotic manipulators.

Published in:

Mechtronic and Embedded Systems and Applications, 2008. MESA 2008. IEEE/ASME International Conference on

Date of Conference:

12-15 Oct. 2008