Pub Date : 2008-03-01DOI: 10.2316/Journal.206.2008.2.206-3095
H. Jafarian, M. Eghtesad, A. Tavasoli
In this paper, a combined adaptive-robust and neural network control based on backstepping design is proposed for trajectory tracking of two 6-DOF rigid link electrically driven (RLED) elbow robot manipulators moving a rigid object when actuator dynamics is also considered in the system dynamics. First, the authors derive kinematics and dynamics of the mechanical subsystem and the relations among forces/moments acting on the object by the robots, using different Jacobians. Second, the current vector (instead of the torque vector) is regarded as the control input for the mechanical subsystem and, using an adaptive-robust algorithm, an embedded control variable for the desired current vector is designed so that the tracking goal may be achieved. Third, using a neural network controller for DC motor dynamics, the voltage commands are designed such that the joint currents track their desired values. The proposed control algorithm does not require exact knowledge of the mathematical model representing each robot and its actuator dynamics and does not need acceleration measurement. The adaptive-robust control parameters and neural weights are adapted online, and the related Lyapunov function is established and verified. The proposed combined controller guarantees asymptotic tracking of the object desired trajectory. Simulation results show the efficiency and usefulness of the proposed scheme.
{"title":"Combined Adaptive-robust and Neural Network Control of Two RLED Cooperating robots using backstepping Design","authors":"H. Jafarian, M. Eghtesad, A. Tavasoli","doi":"10.2316/Journal.206.2008.2.206-3095","DOIUrl":"https://doi.org/10.2316/Journal.206.2008.2.206-3095","url":null,"abstract":"In this paper, a combined adaptive-robust and neural network control based on backstepping design is proposed for trajectory tracking of two 6-DOF rigid link electrically driven (RLED) elbow robot manipulators moving a rigid object when actuator dynamics is also considered in the system dynamics. First, the authors derive kinematics and dynamics of the mechanical subsystem and the relations among forces/moments acting on the object by the robots, using different Jacobians. Second, the current vector (instead of the torque vector) is regarded as the control input for the mechanical subsystem and, using an adaptive-robust algorithm, an embedded control variable for the desired current vector is designed so that the tracking goal may be achieved. Third, using a neural network controller for DC motor dynamics, the voltage commands are designed such that the joint currents track their desired values. The proposed control algorithm does not require exact knowledge of the mathematical model representing each robot and its actuator dynamics and does not need acceleration measurement. The adaptive-robust control parameters and neural weights are adapted online, and the related Lyapunov function is established and verified. The proposed combined controller guarantees asymptotic tracking of the object desired trajectory. Simulation results show the efficiency and usefulness of the proposed scheme.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123373167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-03-01DOI: 10.2316/Journal.206.2008.2.206-3081
E. Tatlicioglu, M. McIntyre, D. Dawson, I. Walker
Past research efforts have focused on the end-effector tracking control of redundant robots because of their increased dexterity over their non-redundant counterparts. This work utilizes an adaptive full-state feedback quaternion-based controller developed in [2] and focuses on the design of a general sub-task controller. This sub-task controller does not affect the position and orientation tracking control objectives, but instead projects a preference on the configuration of the manipulator based on sub-task objectives such as the following: singularity avoidance, joint limit avoidance, bounding the impact forces, and bounding the potential energy.
{"title":"Adaptive Non-Linear Tracking Control of kinematically Redundant robot Manipulators1","authors":"E. Tatlicioglu, M. McIntyre, D. Dawson, I. Walker","doi":"10.2316/Journal.206.2008.2.206-3081","DOIUrl":"https://doi.org/10.2316/Journal.206.2008.2.206-3081","url":null,"abstract":"Past research efforts have focused on the end-effector tracking control of redundant robots because of their increased dexterity over their non-redundant counterparts. This work utilizes an adaptive full-state feedback quaternion-based controller developed in [2] and focuses on the design of a general sub-task controller. This sub-task controller does not affect the position and orientation tracking control objectives, but instead projects a preference on the configuration of the manipulator based on sub-task objectives such as the following: singularity avoidance, joint limit avoidance, bounding the impact forces, and bounding the potential energy.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125663311","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-03-01DOI: 10.2316/Journal.206.2008.2.206-3044
M. Chettouh, R. Toumi, M. Hamerlain
We are concerned with the control of a 3-DOF robot actuated by pneumatic rubber muscles. The system is highly non-linear and somehow difficult to model; variable structure system control imposes itself as a very relevant type of control. This paper presents two types of robust controls. One uses a classical variable structure (CVS) control associated to a PID control; the other is a derivative control. Both controllers are implemented on a robot driven by artificial rubber muscles. The goal is the comparison of the two controllers in their ability to reduce chatter. Experimental results are presented and discussed.
{"title":"Chatter Reduction in an Artificial Muscles robot Application","authors":"M. Chettouh, R. Toumi, M. Hamerlain","doi":"10.2316/Journal.206.2008.2.206-3044","DOIUrl":"https://doi.org/10.2316/Journal.206.2008.2.206-3044","url":null,"abstract":"We are concerned with the control of a 3-DOF robot actuated by pneumatic rubber muscles. The system is highly non-linear and somehow difficult to model; variable structure system control imposes itself as a very relevant type of control. This paper presents two types of robust controls. One uses a classical variable structure (CVS) control associated to a PID control; the other is a derivative control. Both controllers are implemented on a robot driven by artificial rubber muscles. The goal is the comparison of the two controllers in their ability to reduce chatter. Experimental results are presented and discussed.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"177 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133797594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-03-01DOI: 10.2316/Journal.206.2008.2.206-2966
C. Huang, X. Peng, X. G. Wang, S. Shi
Based on a continuous piecewise-differentiable increasing function (CPDIF), a new simple robust-adaptive tracking control algorithm is proposed in this paper for robot manipulators. In the structure of the proposed adaptive controller, output of the estimator is filtered by some CPDIF and then is employed in the controller. Therefore, in some sense, this robust-adaptive approach can be taken as the extension of the conventional adaptive scheme. Due to this bounded filter function, phenomena of parameter drift are overcome accordingly. When the true parameters are contained within the estimated parameter range, asymptotic stability is obtained even though persistency of excitation is not satisfied. Furthermore, the designed controller renders the resulting system uniformly ultimately bounded stable in the presence of disturbance and/or the improper estimate of parameter range especially, namely, robustness is also guaranteed. Finally, simulation results demonstrate the above statements.
{"title":"New robust-Adaptive Algorithm for Tracking Control of robot manipulators","authors":"C. Huang, X. Peng, X. G. Wang, S. Shi","doi":"10.2316/Journal.206.2008.2.206-2966","DOIUrl":"https://doi.org/10.2316/Journal.206.2008.2.206-2966","url":null,"abstract":"Based on a continuous piecewise-differentiable increasing function (CPDIF), a new simple robust-adaptive tracking control algorithm is proposed in this paper for robot manipulators. In the structure of the proposed adaptive controller, output of the estimator is filtered by some CPDIF and then is employed in the controller. Therefore, in some sense, this robust-adaptive approach can be taken as the extension of the conventional adaptive scheme. Due to this bounded filter function, phenomena of parameter drift are overcome accordingly. When the true parameters are contained within the estimated parameter range, asymptotic stability is obtained even though persistency of excitation is not satisfied. Furthermore, the designed controller renders the resulting system uniformly ultimately bounded stable in the presence of disturbance and/or the improper estimate of parameter range especially, namely, robustness is also guaranteed. Finally, simulation results demonstrate the above statements.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116018851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-09-01DOI: 10.2316/Journal.206.2007.4.206-3000
M. Khorsheed
This paper presents an omni-font Arabic word recognition system. The system is based on multiple Hidden Markov Models (HMMs). Each word in the lexicon is represented with a distinct HMM. The proposed system first extracts a set of spectral features from word images, then uses those features to tune HMM parameters. The performance of the proposed system is assessed using a corpus that includes both handwritten and computer-generated scripts. The likelihood probability of the input pattern is calculated against each word model and the pattern is assigned to the model with the highest probability.
{"title":"Hmm-Based System for Recognizing Words in Historical Arabic Manuscript","authors":"M. Khorsheed","doi":"10.2316/Journal.206.2007.4.206-3000","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.4.206-3000","url":null,"abstract":"This paper presents an omni-font Arabic word recognition system. The system is based on multiple Hidden Markov Models (HMMs). Each word in the lexicon is represented with a distinct HMM. The proposed system first extracts a set of spectral features from word images, then uses those features to tune HMM parameters. The performance of the proposed system is assessed using a corpus that includes both handwritten and computer-generated scripts. The likelihood probability of the input pattern is calculated against each word model and the pattern is assigned to the model with the highest probability.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132698376","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-09-01DOI: 10.2316/Journal.206.2007.4.206-3029
F. Rehman, M. M. Ahmed, Nisar Ahmed
This paper presents a steering algorithm for drift-free control systems having control deficiency ≥2, based on the construction of a cost function V that is the sum of two semi-positive definite functions V1 and V2. These semi-positive definite functions are obtained by decomposing the system into two subsystems. The task of the algorithm is to decay the nondifferentiable cost function V along the controlled system trajectories in an average sense by first decaying the function V1 using the trajectory interception approach and then decaying the function V2 by using sinusoidal inputs. The effectiveness of the strategy is tested on a wheeled mobile robot of type (1, 1), which is a typical example of drift-free system with control deficiency ≥2.
{"title":"Steering Control Algorithm for Drift-Free Control Systems using Model Decomposition: a wheeled Mobile robot of Type (1, 1) Example","authors":"F. Rehman, M. M. Ahmed, Nisar Ahmed","doi":"10.2316/Journal.206.2007.4.206-3029","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.4.206-3029","url":null,"abstract":"This paper presents a steering algorithm for drift-free control systems having control deficiency ≥2, based on the construction of a cost function V that is the sum of two semi-positive definite functions V1 and V2. These semi-positive definite functions are obtained by decomposing the system into two subsystems. The task of the algorithm is to decay the nondifferentiable cost function V along the controlled system trajectories in an average sense by first decaying the function V1 using the trajectory interception approach and then decaying the function V2 by using sinusoidal inputs. The effectiveness of the strategy is tested on a wheeled mobile robot of type (1, 1), which is a typical example of drift-free system with control deficiency ≥2.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121910244","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-09-01DOI: 10.2316/Journal.206.2007.4.206-2999
Chunquan Xu, A. Ming, Kent Ho-Ming Mak, M. Shimojo
A new design approach is proposed for high dynamic performance robots, such as robots performing high-speed dynamic motions. This method is based on the utilization of dynamically coupled driving and joint stops. In the method, the dynamic performance index (DPI) formulated by the desired maximum motion specifications and the boundary conditions on initial/final configurations are combined to form a design index (DI) first. Then a dexterous mechanism consisting of very light actuators and links is initially designed under an assumption of utilizing dynamically coupled driving and joint stops. By increasing the load capabilities of the actuators step by step, an iterative process of searching for the solution of DI=0 with minimal torque needs is implemented to validate and improve the initial design. This process yields a robot that is lighter than conventional robots and capable of performing dynamic motions more efficiently by utilizing dynamically coupled driving and joint stops. Based on the method, a two-link golf swing robot performing high-speed swings is designed. Simulation results indicate the method can reduce the needs for the torque and power as compared with conventional design methods. The experiment clearly illustrates the merits of the method.
{"title":"Design for High Dynamic Performance robot Based on Dynamically Coupled Driving and Joint stops","authors":"Chunquan Xu, A. Ming, Kent Ho-Ming Mak, M. Shimojo","doi":"10.2316/Journal.206.2007.4.206-2999","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.4.206-2999","url":null,"abstract":"A new design approach is proposed for high dynamic performance robots, such as robots performing high-speed dynamic motions. This method is based on the utilization of dynamically coupled driving and joint stops. In the method, the dynamic performance index (DPI) formulated by the desired maximum motion specifications and the boundary conditions on initial/final configurations are combined to form a design index (DI) first. Then a dexterous mechanism consisting of very light actuators and links is initially designed under an assumption of utilizing dynamically coupled driving and joint stops. By increasing the load capabilities of the actuators step by step, an iterative process of searching for the solution of DI=0 with minimal torque needs is implemented to validate and improve the initial design. This process yields a robot that is lighter than conventional robots and capable of performing dynamic motions more efficiently by utilizing dynamically coupled driving and joint stops. Based on the method, a two-link golf swing robot performing high-speed swings is designed. Simulation results indicate the method can reduce the needs for the torque and power as compared with conventional design methods. The experiment clearly illustrates the merits of the method.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116106431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-09-01DOI: 10.2316/Journal.206.2007.4.206-3059
Leena Lulu, Ashraf Elnagar
In this paper, we present a novel near-optimal art gallery-based algorithm for placing a small (but sufficient) number of robot configurations to plan its path in a 2D environment cluttered with obstacles. The solution of the problem is inspired from the well-known art gallery problem (AGP) which asks to position the minimum number of guards required to cover a gallery that is represented as a simple polygon with n vertices and h holes. The proposed algorithm efficiently computes the placement of guards in simple polygons with holes, which runs in O(n log n) time and requires a linear storage complexity. The proposed algorithm can be useful in a variety of applications such as 3D model construction of a workspace, navigation and inspection tasks, medical surgery, and virtual reality exploration systems. It can also be used to solve the robot motion planning problem for an autonomous mobile robot in a global environment. A 2D workspace for an autonomous robot can be modeled as a gallery and the obstacles are presented as holes. The proposed placement guarantees to compute the near-optimal distribution of guards that fully cover the entire free space. Such guards can then be used as milestones along the path of the robot. The proposed algorithm is not only offering a better performance in terms of computational cost but also ease in implementation. Simulation results demonstrate the efficiency, robustness, and potential of the proposed algorithm compared to other visibility-based techniques.
{"title":"An Art Gallery-Based Approach: Roadmap Construction and Path Planning in Global Environments","authors":"Leena Lulu, Ashraf Elnagar","doi":"10.2316/Journal.206.2007.4.206-3059","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.4.206-3059","url":null,"abstract":"In this paper, we present a novel near-optimal art gallery-based algorithm for placing a small (but sufficient) number of robot configurations to plan its path in a 2D environment cluttered with obstacles. The solution of the problem is inspired from the well-known art gallery problem (AGP) which asks to position the minimum number of guards required to cover a gallery that is represented as a simple polygon with n vertices and h holes. The proposed algorithm efficiently computes the placement of guards in simple polygons with holes, which runs in O(n log n) time and requires a linear storage complexity. The proposed algorithm can be useful in a variety of applications such as 3D model construction of a workspace, navigation and inspection tasks, medical surgery, and virtual reality exploration systems. It can also be used to solve the robot motion planning problem for an autonomous mobile robot in a global environment. A 2D workspace for an autonomous robot can be modeled as a gallery and the obstacles are presented as holes. The proposed placement guarantees to compute the near-optimal distribution of guards that fully cover the entire free space. Such guards can then be used as milestones along the path of the robot. The proposed algorithm is not only offering a better performance in terms of computational cost but also ease in implementation. Simulation results demonstrate the efficiency, robustness, and potential of the proposed algorithm compared to other visibility-based techniques.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126656838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-09-01DOI: 10.2316/Journal.206.2007.4.206-3036
S. Moosavian, K. Alipour
Due to excessive maneuverability, mobile manipulators which consist of one or more manipulators mounted on a mobile base have attracted much of interest. Tipping over is one of the most important problems in mobile manipulators especially in manipulating heavy objects, also during maneuvers in unknown environment or on rugged terrains. Therefore, estimation and evaluation of dynamic stability with appropriate easy-computed measure throughout the motion of such systems is a challenging task. In this study, a new tip-over stability measure named as moment--height stability (MHS) measure is presented for wheeled mobile manipulators. The suggested MHS measure can be effectively used for both legged robots and mobile manipulators. The required computational effort of the MHS for a given system is compared to other measures, which reveals the efficiency of the MHS over the others. Finally, various case studies are presented to demonstrate the new MHS measure performance compared to the results of other measures. All calculations for system dynamics modeling have been performed using a symbolic code developed in Maple VI, and the obtained models were transferred to another code in Matlab VII to complete numerical simulations. The obtained results show the merits of the new proposed MHS measure, in terms of prediction of the exact time of instability occurrence, without extra unnecessary precautions which may confine the maneuverability of the system and its operation.
{"title":"On the Dynamic tip-over stability of wheeled Mobile manipulators","authors":"S. Moosavian, K. Alipour","doi":"10.2316/Journal.206.2007.4.206-3036","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.4.206-3036","url":null,"abstract":"Due to excessive maneuverability, mobile manipulators which consist of one or more manipulators mounted on a mobile base have attracted much of interest. Tipping over is one of the most important problems in mobile manipulators especially in manipulating heavy objects, also during maneuvers in unknown environment or on rugged terrains. Therefore, estimation and evaluation of dynamic stability with appropriate easy-computed measure throughout the motion of such systems is a challenging task. In this study, a new tip-over stability measure named as moment--height stability (MHS) measure is presented for wheeled mobile manipulators. The suggested MHS measure can be effectively used for both legged robots and mobile manipulators. The required computational effort of the MHS for a given system is compared to other measures, which reveals the efficiency of the MHS over the others. Finally, various case studies are presented to demonstrate the new MHS measure performance compared to the results of other measures. All calculations for system dynamics modeling have been performed using a symbolic code developed in Maple VI, and the obtained models were transferred to another code in Matlab VII to complete numerical simulations. The obtained results show the merits of the new proposed MHS measure, in terms of prediction of the exact time of instability occurrence, without extra unnecessary precautions which may confine the maneuverability of the system and its operation.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123429995","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-09-01DOI: 10.2316/Journal.206.2007.4.206-2956
B. K. Rout, R. K. Mittal
There is a need to select optimal parameter tolerance of manipulator to reach an economic balance between the desired performance and its manufacturing cost. However, selection of optimal parameter tolerances of manipulator is a challenging task. Present paper discusses an offline approach to incorporate effect of noise in simulation of performance and handle its effect in optimization process of parameters tolerances. To determine optimal parameter tolerances, a hybrid evolutionary optimization technique has been used. The hybrid is formed between differential evolution optimization technique and orthogonal array used in design of experiments technique. Proposed technique has been illustrated by selecting optimal tolerances of 2-DOF RR planar manipulator. It has been observed that the methodology is a viable alternative to the costly prototype testing, where only mathematical models are dealt with.
{"title":"Optimal manipulator Tolerance Design using Hybrid Evolutionary Optimization Technique","authors":"B. K. Rout, R. K. Mittal","doi":"10.2316/Journal.206.2007.4.206-2956","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.4.206-2956","url":null,"abstract":"There is a need to select optimal parameter tolerance of manipulator to reach an economic balance between the desired performance and its manufacturing cost. However, selection of optimal parameter tolerances of manipulator is a challenging task. Present paper discusses an offline approach to incorporate effect of noise in simulation of performance and handle its effect in optimization process of parameters tolerances. To determine optimal parameter tolerances, a hybrid evolutionary optimization technique has been used. The hybrid is formed between differential evolution optimization technique and orthogonal array used in design of experiments technique. Proposed technique has been illustrated by selecting optimal tolerances of 2-DOF RR planar manipulator. It has been observed that the methodology is a viable alternative to the costly prototype testing, where only mathematical models are dealt with.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116899883","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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