Efficient Sub-Optimal Inverse Kinematic Solution for Redundant Manipulators

Master'sMASTER OF ENGINEERIN

Optimization of a Reconfigurable Manipulator with Lockable Cylindrical Joints

This thesis presents a global optimization methodology to find the optimal Denavit-Hartenbeg parameters of a serial reconfigurable robotic manipulator maximizing a cost function over a pre-specified workspace volume and given lower and upper bounds on the design parameters. Several cost functions are investigated such as the manipulability measure, maximum force/torque capability of the manipulator at its end-effector, and maximum velocity capability of the manipulator, therefore improving the general kinetostatic performance of the manipulator. A modified global and posture-independent parameter of singularity (MPIPS) is presented, and a generic global optimization approach is proposed, using combined genetic algorithm (GA) and sequential quadratic programming (SQP). Different case studies are provided for a 3-DOF and a 6-DOF reconfigurable manipulator. Finally, a weighted objective function that balances between the opposing actions of the end effector velocity and force is proposed. The results are illustrated to demonstrate the performance of the generated manipulators, and are validated. Post-optimality analysis has also been conducted to investigate the sensitivity of the index to the variation in optimal parameters

Reconfigurable Validation Model for Identifying Kinematic Singularities and Reach Conditions for Articulated Robots and Machine Tools

Automation has led to industrial robots facilitating a wide array of high speed, endurance, and precision operations undertaken in the manufacturing industry today. An acceptable level of functioning and control is therefore vital to the efficacy and successful implementation of such manipulators. This research presents a comprehensive analytical tool for downstream optimization of manipulator design, functionality, and performance. The proposed model is reconfigurable and allows for modelling and validation of different industrial robots. Unique 3D visual models for a manipulator workspace and kinematic singularities are developed to gain an understanding into the task space and reach conditions of the manipulator\u27s end-effector. The developed algorithm also presents a non-conventional and computationally inexpensive solution to the inverse kinematics problem through the use Artificial Neural Networks. Application of the proposed technique is further extended to aid in development of path planning models for a uniform, continuous, and singularity free motion

Automatische Konfiguration der Bewegungssteuerung von Industrierobotern

Robotersteuerungen erfordern sehr lange Entwicklungszeiten und hohe Entwicklungskosten. Die Software wird sehr aufwändig von Hand entwickelt und implementiert. Die automatische, schnelle und zuverlässige Konfiguration der Bewegungssteuerung von beliebigen Robotertypen ist neuartig. Hierfür wurde in dieser Arbeit ein System zur automatisierten Konfiguration komponentenbasierter Software auf Basis einer Beschreibung der mechanischen Struktur und Eigenschaften von Industrierobotern entwickelt

Task decoupling in robot manipulators

10.1007/BF01258353Journal of Intelligent & Robotic Systems143283-302JIRS