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A generic method to optimize a redundant serial robotic manipulator's structure

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A generic method to optimize a redundant serial robotic manipulator's structure. / Kivelä, Tuomo; Mattila, Jouni; Puura, Jussi.

julkaisussa: Automation in Construction, Vuosikerta 81, 01.09.2017, s. 172-179.

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Harvard

Kivelä, T, Mattila, J & Puura, J 2017, 'A generic method to optimize a redundant serial robotic manipulator's structure', Automation in Construction, Vuosikerta. 81, Sivut 172-179. https://doi.org/10.1016/j.autcon.2017.06.006

APA

Vancouver

Author

Kivelä, Tuomo ; Mattila, Jouni ; Puura, Jussi. / A generic method to optimize a redundant serial robotic manipulator's structure. Julkaisussa: Automation in Construction. 2017 ; Vuosikerta 81. Sivut 172-179.

Bibtex - Lataa

@article{55530c9605904417b844c379ef21806d,
title = "A generic method to optimize a redundant serial robotic manipulator's structure",
abstract = "In this paper, an optimization method for a redundant serial robotic manipulator's structure is proposed in order to improve their performance. Optimization was considered in terms of kinematics using the proposed objective function and the non-linear Levenberg-Marquardt algorithm for multi-variate optimization. Range limits of the joints, bounds of the design parameters, and a constrained workspace are enforced in the proposed method. A desired manipulator can be optimized to cover the required task points using dimensional synthesis. This approach effectively optimizes the link lengths of the manipulator and minimizes the position and orientation errors of the tool center point. A commercial heavy-duty hydraulic, underground tunneling manipulator was used to demonstrate the capability of the proposed optimization method. The obtained results encourage the use of the proposed optimization method in automated construction applications, such as underground tunneling, where the confined environment and the required task add challenges in the design of task-based robotic manipulators.",
keywords = "Computer-aided design, Constraint, Optimization, Redundant, Robotic, Serial manipulator, Synthesis, Workspace",
author = "Tuomo Kivel{\"a} and Jouni Mattila and Jussi Puura",
year = "2017",
month = "9",
day = "1",
doi = "10.1016/j.autcon.2017.06.006",
language = "English",
volume = "81",
pages = "172--179",
journal = "Automation in Construction",
issn = "0926-5805",
publisher = "Elsevier",

}

RIS (suitable for import to EndNote) - Lataa

TY - JOUR

T1 - A generic method to optimize a redundant serial robotic manipulator's structure

AU - Kivelä, Tuomo

AU - Mattila, Jouni

AU - Puura, Jussi

PY - 2017/9/1

Y1 - 2017/9/1

N2 - In this paper, an optimization method for a redundant serial robotic manipulator's structure is proposed in order to improve their performance. Optimization was considered in terms of kinematics using the proposed objective function and the non-linear Levenberg-Marquardt algorithm for multi-variate optimization. Range limits of the joints, bounds of the design parameters, and a constrained workspace are enforced in the proposed method. A desired manipulator can be optimized to cover the required task points using dimensional synthesis. This approach effectively optimizes the link lengths of the manipulator and minimizes the position and orientation errors of the tool center point. A commercial heavy-duty hydraulic, underground tunneling manipulator was used to demonstrate the capability of the proposed optimization method. The obtained results encourage the use of the proposed optimization method in automated construction applications, such as underground tunneling, where the confined environment and the required task add challenges in the design of task-based robotic manipulators.

AB - In this paper, an optimization method for a redundant serial robotic manipulator's structure is proposed in order to improve their performance. Optimization was considered in terms of kinematics using the proposed objective function and the non-linear Levenberg-Marquardt algorithm for multi-variate optimization. Range limits of the joints, bounds of the design parameters, and a constrained workspace are enforced in the proposed method. A desired manipulator can be optimized to cover the required task points using dimensional synthesis. This approach effectively optimizes the link lengths of the manipulator and minimizes the position and orientation errors of the tool center point. A commercial heavy-duty hydraulic, underground tunneling manipulator was used to demonstrate the capability of the proposed optimization method. The obtained results encourage the use of the proposed optimization method in automated construction applications, such as underground tunneling, where the confined environment and the required task add challenges in the design of task-based robotic manipulators.

KW - Computer-aided design

KW - Constraint

KW - Optimization

KW - Redundant

KW - Robotic

KW - Serial manipulator

KW - Synthesis

KW - Workspace

U2 - 10.1016/j.autcon.2017.06.006

DO - 10.1016/j.autcon.2017.06.006

M3 - Article

VL - 81

SP - 172

EP - 179

JO - Automation in Construction

JF - Automation in Construction

SN - 0926-5805

ER -