DocumentCode
3093065
Title
Dynamic optimization of a robot manipulator based on GA
Author
Zhang, Yong-gui ; Xie, Li-ming ; Shen, Hao ; Jin, Lan
Author_Institution
Key Lab. of Digital Manuf. Technol. & Applic., Lanzhou Univ. of Technol., Lanzhou, China
Volume
3
fYear
2009
fDate
12-15 July 2009
Firstpage
1727
Lastpage
1731
Abstract
Aimed at a 6 degrees of freedom (DOFs) articulated robot manipulator, using Newton-Euler method to establish it´s dynamical model, then to find out the pose of the maximal joints driving moment and regard this pose as the worst case of the robot, some dynamic parameters of the manipulator has been optimized by using genetic algorithm(GA) and employing the model as fitness function of GA so as to improve the dynamical performance of the robot manipulator.
Keywords
Newton method; genetic algorithms; manipulators; 6-degrees of freedom; Newton-Euler method; articulated robot manipulator; dynamic optimization; fitness function model; genetic algorithm; maximal joint driving moment; Design optimization; Educational robots; Educational technology; Equations; Genetic algorithms; Manipulator dynamics; Optimization methods; Orbital robotics; Robot kinematics; Torque; Dynamics Optimization; Genetic Algorithm; Robot; Worst Case;
fLanguage
English
Publisher
ieee
Conference_Titel
Machine Learning and Cybernetics, 2009 International Conference on
Conference_Location
Baoding
Print_ISBN
978-1-4244-3702-3
Electronic_ISBN
978-1-4244-3703-0
Type
conf
DOI
10.1109/ICMLC.2009.5212283
Filename
5212283
Link To Document