DocumentCode
3110743
Title
Multi-objective-based configuration generation and optimization for reconfigurable modular robot
Author
Dong, Bo ; Li, Yuanchun
Author_Institution
State Key Lab. of Automobile Dynamic Simulation, Jilin Univ., Changchun, China
fYear
2011
fDate
26-28 March 2011
Firstpage
1006
Lastpage
1010
Abstract
A new method for reconfigurable modular robot on configuration auto-generation, optimization and evaluation was proposed in this paper. On the basis of assign and design of the module, a new descriptive method of configuration-CCM was proposed, and it can describe the configuration directly and completely which needed to satisfy the assembly requirement. Genetic-simulated annealing algorithm has been used for multi-objective optimization of configuration in the accessibility and the optimality of joint variables. Through the 3D dynamic simulation of configuration by Robotics Toolbox, the overall optimality was proved.
Keywords
genetic algorithms; mobile robots; robot dynamics; simulated annealing; 3D dynamic simulation; configuration-CCM; genetic simulated annealing algorithm; multi objective based configuration generation; optimization; reconfigurable modular robot; Accuracy; Annealing; Assembly; Genetic algorithms; Joints; Optimization; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Information Science and Technology (ICIST), 2011 International Conference on
Conference_Location
Nanjing
Print_ISBN
978-1-4244-9440-8
Type
conf
DOI
10.1109/ICIST.2011.5765143
Filename
5765143
Link To Document