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Article

Optimization of manipulator dynamics in non extreme design case

  • Xiong Youlun (a1) and Ding Han (a1)
Summary

This paper is concerned with the dynamic merit of robot manipulators and method for the optimization of manipulator dynamics in the case of an extremely bad design, which can be put into three categories: 1. Acceleration performance: minimize 2. Velocity performance: minimize 3. Comprehensive performance: minimize , and are the dynamics indices of API, VPI and CD PI under various conditions respectively.

The exchange algorithm is presented and a procedure is developed to solve this kind of Minimax problem. An example is discussed to illustrate the application of the optimization method. The large uniform magnitude of a joint relative driving torque provided by this dynamics optimization procedure will be made into a large work space and large torques.

Copyright
COPYRIGHT: © Cambridge University Press 1990
References
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1. Asada, H., (1983) “A Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design”, Trans. ASME, J. Dynamic Systems, Measurement, and Control 105, No. 3, 131–135 (1983).
2. Yoshikawa, T. (1985) “Dynamic Manipulability of Robot Manipulators, Proc. 1985 IEEE International Conference on Robotics and Automation, St. Louis (1985) pp. 1033–1038.
3. Khatib, O. and Burdick, J., “Optimization of Dynamics in Manipulator Desgin: The Operational Space Formulation” Int. J. Robotics and Automation 1–15 (12, 1986).
4. Xiong, Y.L., On Minimization of Linear Extremum Difference on Its Applications” J. University of Science and Technology, No. 5, 40–45 (1985).
5. Xiong, Y.L. “Optimal Design of Manipulator Arms by Use of Minimax Techniques”, Proc. 15th Int. Symposium on Industrial Robots. Tokyo (1985) pp. 895–902.
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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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