Abstract
In this paper a method is presented, for estimating the best location, from dexterity point of view, of a path following task into the workspace of an industrial manipulator. The best location of the path is defined as the location with the higher mean value of the manipulability along the path. The optimisation problem is formulated in a procedural way and solved using Genetic Algorithms (GA). The efficiency of the method is demonstrated through experiments carried out on a planar manipulator and on a PUMA robot in a simulation environment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Yoshikawa T. (1984) Analysis and Control of Robot Manipulators with Redundancy, in Robotics Research: The First International Symposium, ed. M. Brady and R. Paul, MIT Press, pp. 735–747.
Shin K. G., Mckay N. D. (1986) Selection of Near-Minimum Time Geometric Paths for Robotic Manipulators, IEEE Trans, on Automatic Control, Vol. AC-31, No 6.
Yoshikawa 3. T. (1990) Foundations of Robotics: Analysis and Control”, The MIT Press, Cambridge, Massachusetts.
Nelson B., Donath M. (1990) Optimizing the Location of Assembly Tasks in a Manipulator’s Workspace, Journal of Robotic Systems 7(6), pp 791–811.
Goldberg D. E. (1989) Genetic Algorithms in Search, Optimization and Machine Learning, Addison-Wesley Publishing,.
Taylor R. H. (1979) Planning and Execution of Straight Line Manipulator Trajectories, IBM Journal of Research and Development 23.
Aspragathos, N. A. (1992) Cartesian Path Generation by Robots under Maximum Allowed Deviation, 3rd International Workshop on Advances in Robot Kinematics, Ferrara, Italy.
Cooper L., Steinberg D., (1970) Introduction to Methods of Optimization, W. B. Saunders Company.
Nearchou A. C, Aspragathos N. A. (1995), Obstacle Avoidance Control of Redundant Robots using Genetic Algorithms, 3rd IEEE Mediterranean Symposium on New Directions in Control and Automation, Limassol, Cyprus.
De Jong K. A. (1975), An Analysis of the Behaviour of Genetic Adaptive Systems, Doctoral Dissertation, University of Michigan.
Whitney D. E. (1972), The Mathematics of Co-ordinated Control of Prosthetic Arms and Manipulators, Journal of Dynamic Systems Measurement, and Control, pp 303–309.
Dubey R., J. Y. S. Luh, (1986) Performance Measures and their Improvement for Redundant Robots, Robotics Theory and Application, ASME Winter Annual Meeting.
13. J. J. Craig, Introduction to Robotics: Mechanics and Control, Addison Wesley, 1986.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1996 Kluwer Academic Publishers
About this chapter
Cite this chapter
Aspragathos, N.A. (1996). Optimal Location of Path Following Tasks in the Workspace of a Manipulator Using Genetic Algorithms. In: Lenarčič, J., Parenti-Castelli, V. (eds) Recent Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-009-1718-7_18
Download citation
DOI: https://doi.org/10.1007/978-94-009-1718-7_18
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-7269-4
Online ISBN: 978-94-009-1718-7
eBook Packages: Springer Book Archive