Hostname: page-component-78c5997874-fbnjt Total loading time: 0 Render date: 2024-11-16T09:24:18.853Z Has data issue: false hasContentIssue false
  • English
  • Français

Optimization of manipulator dynamics in non extreme design case

Published online by Cambridge University Press:  17 August 2017

Xiong Youlun  and
Ding Han
Xiong Youlun
Affiliation:
Department of Mechanical Engineering (I), Huazhong University of Science and Technology, Wuhan (P. R. ofChina)
Ding Han
Affiliation:
Department of Mechanical Engineering (I), Huazhong University of Science and Technology, Wuhan (P. R. ofChina)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper is concerned with the dynamic merit of robot manipulators and method for the optimization of manipulator dynamics in the case of an extremely bad design, which can be put into three categories: 1. Acceleration performance: minimize 2. Velocity performance: minimize 3. Comprehensive performance: minimize , and are the dynamics indices of API, VPI and CD PI under various conditions respectively.

The exchange algorithm is presented and a procedure is developed to solve this kind of Minimax problem. An example is discussed to illustrate the application of the optimization method. The large uniform magnitude of a joint relative driving torque provided by this dynamics optimization procedure will be made into a large work space and large torques.

Keywords

Manipulator dynamicsDynamics optimizationMinimaxExchange algorithm
Type
Research Article
Information
Robotica , Volume 8 , Issue 2 , April 1990 , pp. 131 - 136
Copyright
Copyright © Cambridge University Press 1990

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Asada, H., (1983) “A Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design”, Trans. ASME, J. Dynamic Systems, Measurement, and Control 105, No. 3, 131–135 (1983).Google Scholar
2. Yoshikawa, T. (1985) “Dynamic Manipulability of Robot Manipulators, Proc. 1985 IEEE International Conference on Robotics and Automation, St. Louis (1985) pp. 1033–1038.Google Scholar
3. Khatib, O. and Burdick, J., “Optimization of Dynamics in Manipulator Desgin: The Operational Space Formulation” Int. J. Robotics and Automation 1–15 (12, 1986).Google Scholar
4. Xiong, Y.L., On Minimization of Linear Extremum Difference on Its Applications” J. University of Science and Technology, No. 5, 40–45 (1985).Google Scholar
5. Xiong, Y.L. “Optimal Design of Manipulator Arms by Use of Minimax Techniques”, Proc. 15th Int. Symposium on Industrial Robots. Tokyo (1985) pp. 895–902.Google Scholar