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Comparative study of optimization technique for the global performance indices of the robot manipulator based on an approximate model

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Abstract

This paper presents the procedure and results of the multi-objective design optimization of a seven-degrees-of-freedom (7DOF) robot manipulator for better global performance, which pertains to the Global Conditioning Index (GCI) and the Structural Length Index (SLI). The concepts of, and the calculation techniques for, GCI and SLI are introduced to allow their use as objective functions for optimization. The optimization techniques, which are Sequential Two-point Diagonal Quadratic Approximate Optimization (STDQAO), the Progressive Quadratic Response Surface Method (PQRSM), the micro genetic algorithm (μGA), and the evolutionary algorithm (EA), were explained briefly, and they are being used to optimize the global performance indices of the robot manipulator. Also, the results of the optimization and comparison of the four optimization methods are summarized in tables.

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Correspondence to Changsoo Han.

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Recommended by Editorial Board member Shinsuk Park under the direction of Editor-in-Chief Jae-Bok Song.

This work was supported by the Ministry of Knowledge Economy (MKE) of Korea, under the Advanced Robot Manipulation Research Center support program supervised by the National IT Industry Promotion Agency (NIPA) [NIPA-2010-(C7000-1001-0002)].

Hyunseop Lim received his B.S. degree in Mechanical Design and Automation Engineering from Seoul National University of Technology, in 2009. He is currently working toward a M.S. degree in Mechanical Engineering at Hanyang University. His research interests include redundant and modular manipulator, kinematic performance analysis, and optimization and designing of manipulators.

Soonwoong Hwang received his B.S. degree in Mechanical Engineering from Hanyang University, in 2007 and his M.S. degree in Mechatronics Engineering from Hanyang University in 2009. He is currently working toward a Ph.D. degree in Mechatronics Engineering at Hanyang University. Intelligent service robot with 7 DOF arms and mobile platform, dynamic performance analysis, and analytical manipulator design.

Kyoosik Shin received his B.S. degree from the Department of Mechanical Engineering, Hanyang University, Seoul, Korea in 1983, and his M.S. and Ph.D. degrees from the Department of Mechanical Engineering, University of Texas at Austin, in 1990 and 1995, respectively. From June 1995 to March 2008, he worked for Samsung SDS as an product development consultant. From March 2008 to August 2009, he was a general manager of Pohang Institute of Intelligent Robotics (PIRO). In September 2009, he joined Hanyang University, Ansan, Gyeonggi-do, Korea as an Associate Professor in the Department of Mechanical Engineering. His research interests include robot manipulator design, robot design methodology, energy efficient robot systems.

Changsoo Han received his B.S. degree in Mechanical Engineering from Hanyang University in 1983, and his M.S. and Ph.D. degrees in Mechanical Engineering from University of Texas at Austin in 1985, 1989, respectively. From September 1984 to May 1985, he was a Teaching Assistant with CAD/CAM Lab in the department of engineering of the University of Texas at Austin. From October 1987 to April 1988, he was the consultant for a Lockheed MAC III design project for the Lockheed Austin Division. From May 1988 to September 1989, he was a research assistant, Robotics Lab in mechanical engineering manufacturing of the high resolution micro manipulator. He stayed at University of California at Berkeley as a visiting professor from August 1996 to July 1997. In March 1990, he joined Hanyang University, Ansan, Korea as an assistant professor in the department of mechanical engineering. Currently, he is a Professor with the School of mechanical engineering, Hanyang University. His research interests include intelligence service robot, high precision robotics and mechatronics, rehabilitation and biomechanics technology using robotics, automation in construction and advanced vehicle control.

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Lim, H., Hwang, S., Shin, K. et al. Comparative study of optimization technique for the global performance indices of the robot manipulator based on an approximate model. Int. J. Control Autom. Syst. 10, 374–382 (2012). https://doi.org/10.1007/s12555-012-0217-8

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  • DOI: https://doi.org/10.1007/s12555-012-0217-8

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