Optimum Robot Design Based on Task Specifications Using Evolutionary Techniques and Kinematic, Dynamic, and Structural Constraints | Zendy

Panos S. Shiakolas | Zendy; D. Koladiya | Zendy; J. Kebrle | Zendy

Open Access

Optimum Robot Design Based on Task Specifications Using Evolutionary Techniques and Kinematic, Dynamic, and Structural Constraints

Author(s) -

Panos S. Shiakolas,

D. Koladiya,

J. Kebrle

Publication year - 2002

Publication title -

dynamic systems and control

Language(s) - English

Resource type - Conference proceedings

DOI - 10.1115/imece2002-32477

Subject(s) - scara , differential evolution , kinematics , computer science , evolutionary algorithm , robot , torque , fitness function , genetic algorithm , mathematical optimization , control theory (sociology) , control engineering , artificial intelligence , mathematics , engineering , machine learning , physics , control (management) , classical mechanics , thermodynamics

In this paper, we discuss optimum robot design based on task specifications using evolutionary optimization approaches. The three evolutionary optimization approaches employed are Simple Genetic Algorithms, Genetic Algorithms with elitism, and Differential Evolution. These approaches were used for the optimum design of SCARA and articulated type manipulators. The objective function minimizes the torque required for the motion subject to deflection and physical constraints with the design variables being the physical characteristics of link (length and cross sectional area parameters). In this work, we experimented links with various cross sections. The main findings of this research are that the differential evolution converges quickly, requires significantly less number of iterations and achieves better results.Copyright © 2002 by ASME

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