Rapid Evaluation of Reconfigurable Robots Anatomies Using Computational Intelligence

  • Harry Valsamos
  • Vassilis Moulianitis
  • Nikos Aspragathos
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6277)


Designing a reconfigurable manufacturing robotic workcell is a complex and resource demanding procedure. In this work a multi criteria index is introduced, allowing the designer to evaluate the various anatomies achieved by a reconfigurable manipulator, and to define the area in the manipulator’s configuration space where a task can be accomplished with good performance under the selected performance measure. An adaptive neuro-fuzzy inference system is trained, in order to rapidly produce the index value for arbitrary anatomies achieved by the manipulator. The system is tested using a case study reconfigurable manipulator, and the derived results determined by the system after its training are presented and compared to the actual index value for calculated for the relevant anatomy.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Harry Valsamos
    • 1
  • Vassilis Moulianitis
    • 2
  • Nikos Aspragathos
    • 1
  1. 1.Mechanical and Aeronautics Engineering Dept.University of PatrasRio, AchaiaGreece
  2. 2.Dept. of Product and Systems Design EngineeringUniversity of AegeanErmoupolisGreece

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