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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)
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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

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References

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