Title: | Engineering based robot optimization methodology |
Authors: | Švejda, Martin Jáger, Arnold |
Citation: | ŠVEJDA, M., JÁGER, A. Engineering based robot optimization methodology. In: IFAC-PapersOnLine. Amsterdam: Elsevier, 2019. s. 305-310. ISSN: 2405-8963. |
Issue Date: | 2019 |
Publisher: | Elsevier |
Document type: | konferenční příspěvek conferenceObject |
URI: | 2-s2.0-85081565762 http://hdl.handle.net/11025/36875 |
ISSN: | 2405-8963 |
Keywords in different language: | parametric optimization;robot;non-standard application |
Abstract: | The paper deals with the engineering based methodology for optimal design of non-standard robotic architectures. Two layer algorithm is presented for the optimization of robot kinematic parameters. The first layer includes mathematical optimization of the simplified dynamic model of the robot resulting in a priori estimation of the kinematic parameters. A general objective function for robot joint force/torque minimization is taken into account. The second layer provides an iterative approach which makes possible to adjust the kinematic parameters according to unmodeled engineering requirements. The proposed optimization approach is illustrated on the example of 5 a DoF robot for industrial degreasing machine. |
Rights: | © Elsevier |
Appears in Collections: | Konferenční příspěvky / Conference Papers (KKY) OBD |
Files in This Item:
File | Size | Format | |
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IFAC_2019_Svejda_EngineeringBasedRobotOptimization.pdf | 1,5 MB | Adobe PDF | View/Open |
Please use this identifier to cite or link to this item:
http://hdl.handle.net/11025/36875
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