Kinematic Synthesis of Manipulators Using a Distributed Optimization Method

1999 ◽  
Vol 121 (4) ◽  
pp. 492-501 ◽  
Author(s):  
F. B. Ouezdou ◽  
S. Re´gnier ◽  
C. Mavroidis
Keyword(s):  
Optimization Problems ◽  
Distributed Optimization ◽  
Optimization Method ◽  
Degree Of Freedom ◽  
New Method ◽  
Kinematic Synthesis ◽  
Dimensional Parameters ◽  
Six Degree Of Freedom ◽  
Joint Limits ◽  
Guidance Problem

In this paper, the rigid body guidance problem of general 6 degree of freedom manipulators is studied. A new method, called Distributed Optimization Method (DOM), is used to determine the dimensional parameters of general manipulators that are able to reach a finite number of given six degree of freedom position and orientation tasks. It is shown that the global multi-variable optimization problem of kinematic synthesis can be solved as a sequence of local, one variable, optimization problems. The new method allows the possibility to include additional criteria in the manipulator kinematic synthesis such as joint limits, range of dimensional parameters, obstacles avoidance, isotropy and number of configurations to reach a specific end-effector task. Two examples are given to illustrate the validity of the method.

Soccer Game Optimization

2015 ◽  
pp. 1434-1469 ◽  
Author(s):  
Hindriyanto Dwi Purnomo ◽  
Hui-Ming Wee
Keyword(s):  
Evolutionary Algorithm ◽  
Information Sharing ◽  
Swarm Intelligence ◽  
Soccer Player ◽  
Optimization Problems ◽  
Optimization Method ◽  
New Method ◽  
Intelligence Algorithm ◽  
Reproduction Process ◽  
Swarm Intelligence Algorithm

A new metaheuristic algorithm is proposed. The algorithm integrates the information sharing as well as the evolution operators in the swarm intelligence algorithm and evolutionary algorithm respectively. The basic soccer player movement is used as the analogy to describe the algorithm. The new method has two basic operators; the move off and the move forward. The proposed method elaborates the reproduction process in evolutionary algorithm with the powerful information sharing in the swarm intelligence algorithm. Examples of implementations are provided for continuous and discrete problems. The experiment results reveal that the proposed method has the potential to become a powerful optimization method. As a new method, the proposed algorithm can be enhanced in many different ways such as investigating the parameter setting, elaborating more aspects of the soccer player movement as well as implementing the proposed method to solve various optimization problems.

General method for kinematic synthesis of manipulators with task specifications

Robotica ◽  
1997 ◽  
Vol 15 (6) ◽  
pp. 653-661 ◽  
Author(s):  
F.B. Ouezdou ◽  
S. Régnier
Keyword(s):  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Synthesis Problem ◽  
Inverse Kinematic Problem ◽  
Kinematic Synthesis ◽  
Six Degrees Of Freedom ◽  
Cluttered Environment ◽  
Dimensional Parameters ◽  
Joint Limits ◽  
General Method

This paper deals with the kinematic synthesis of manipulators. A new method based on distributed solving is used to determine the dimensional parameters of a general manipulator which is able to reach a set of given tasks specified by orientation and position. First, a general Distributed Solving Method (DSM) is presented in three steps: the problem statement, the objective functions formulations and the minimum parameters values determination. Then, this method is applied to solve the synthesis of the Denavit and Hartenberg set of parameters of a manipulator with a given kinematic structure. In this case, the kind and the number of joints are specified and a set of constraints are included such as joint limits, range of dimensional parameters and geometrical obstacles avoidance. We show that if the Denavit and Hartenberg parameters (DH) are known, the synthesis problem is reduced to an inverse kinematic problem. We show also how the problem of robot base placement can be solved by the same method. A general algorithm is given for solving the synthesis problem for all kind of manipulators. The main contribution of this paper is a general method for kinematic synthesis of all kind of manipulators and some examples are presented for a six degrees of freedom manipulator in cluttered environment.

scholarly journals A New Method for Designing Functionally Generated Occlusal Surface with Six-Degree-of-Freedom Articulator

2004 ◽  
Vol 48 (3) ◽  
pp. 433-440 ◽  
Author(s):  
Keisuke Nishigawa ◽  
Toyoko Satsuma ◽  
Shuji Shigemoto ◽  
Eiichi Bando ◽  
Masanori Nakano ◽  
...  
Keyword(s):  
Degree Of Freedom ◽  
Occlusal Surface ◽  
New Method ◽  
Six Degree Of Freedom

Fabrication and Design of a Nanoparticulate Enabled Micro Forceps

2008 ◽  
Author(s):  
M. E. Aguirre ◽  
G. Hayes ◽  
M. Frecker ◽  
J. Adair ◽  
N. Antolino
Keyword(s):  
Optimization Problems ◽  
Compliant Mechanism ◽  
Research Effort ◽  
Optimization Method ◽  
Fabrication Process ◽  
Surgical Instruments ◽  
Full Density ◽  
Material Strength ◽  
Aspect Ratios ◽  
Dimensional Parameters

A novel fabrication process and design optimization method for a micro forceps is presented. This work is part of a larger research effort to design and fabricate nanoparticulate enabled surgical instruments. The micro forceps is a monolithic compliant mechanism that due to its two-dimensional design can be manufactured using the new fabrication process. The process begins with fabrication of an array of molds on refractory substrates using a modified UV lithography technique. In parallel, engineered ceramic nanocolloidal slurries are prepared for gel-casting into the molds. Mold infiltration takes place via a squeegee technique adapted from screen printing with excess slurry removed using an ethanol wipe. Finally, the photoresist molds are removed with a reactive ion etch (RIE) step, and ceramic parts sintered to full density. Employing this manufacturing technique for the compliant micro forceps design is advantageous because a large number of parts can be produced with a large aspect ratio (≥40:1), sharp edges (∼ 1 μm), and a resolution of 2 μm. Two optimization problems are formulated to determine the effect of dimensional parameters and material strength on the performance of the compliant micro forceps. First, performance is sensitive to small changes in the geometry, indicating that dimensions and shrinkage rates must be carefully controlled during processing. Second, performance can also be improved by using very large aspect ratios and/or improvements in material strength. A sample part manufactured using the new process is presented.

A New Method to Calculate the Force and Moment Workspaces of Actuation Redundant Spatial Parallel Manipulators

2009 ◽  
Vol 1 (3) ◽  
Author(s):  
Venus Garg ◽  
Juan A. Carretero ◽  
Scott B. Nokleby
Keyword(s):  
Three Dimensional ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
New Method ◽  
Task Planning ◽  
Cartesian Space ◽  
Redundantly Actuated ◽  
Six Degree Of Freedom

A new method for obtaining the force and moment workspaces of spatial parallel manipulators (PMs) is presented. Force and moment workspaces are regions within which a manipulator can sustain/apply at least a certain value of force or moment in all directions. Here, the force and moment workspaces are found using a method, which explicitly sets the largest possible number of actuators to their maximum limits ensuring that the manipulator is performing at its best possible wrench capabilities. Two cases for obtaining these workspaces are used. The first gives the applicable/sustainable force with a prescribed moment whereas the second one gives the applicable/sustainable moment with a prescribed force. For illustration purposes, the method is applied to a six-degree-of-freedom (DOF) redundantly-actuated spatial PM, the 3-RRṞS. The results are represented graphically as the boundaries of the workspace in the three-dimensional Cartesian space. These workspaces can be used as a powerful tool for path/task planning and PM design.

Soccer Game Optimization

2013 ◽  
pp. 386-420 ◽  
Author(s):  
Hindriyanto Dwi Purnomo ◽  
Hui-Ming Wee
Keyword(s):  
Evolutionary Algorithm ◽  
Information Sharing ◽  
Swarm Intelligence ◽  
Soccer Player ◽  
Optimization Problems ◽  
Optimization Method ◽  
New Method ◽  
Intelligence Algorithm ◽  
Reproduction Process ◽  
Swarm Intelligence Algorithm

A new metaheuristic algorithm is proposed. The algorithm integrates the information sharing as well as the evolution operators in the swarm intelligence algorithm and evolutionary algorithm respectively. The basic soccer player movement is used as the analogy to describe the algorithm. The new method has two basic operators; the move off and the move forward. The proposed method elaborates the reproduction process in evolutionary algorithm with the powerful information sharing in the swarm intelligence algorithm. Examples of implementations are provided for continuous and discrete problems. The experiment results reveal that the proposed method has the potential to become a powerful optimization method. As a new method, the proposed algorithm can be enhanced in many different ways such as investigating the parameter setting, elaborating more aspects of the soccer player movement as well as implementing the proposed method to solve various optimization problems.

On the Determination of the Workspace of Complex Planar Robotic Manipulators

1998 ◽  
Vol 120 (2) ◽  
pp. 269-278 ◽  
Author(s):  
Re´mi Ricard ◽  
Cle´ment M. Gosselin
Keyword(s):  
Robotic Manipulators ◽  
Degree Of Freedom ◽  
New Method ◽  
Three Degree Of Freedom ◽  
Joint Limits

A new method for the determination of the workspace of complex planar robotic manipulators is described in this paper. The method is based on the use of joint limits to obtain equations describing limiting curves. These limiting curves are then segmented at their mutual intersections and validated. The resulting sets of portions of curves form the envelope of the workspace. The algorithm is completely general and can be applied to any three-degree-of-freedom planar manipulator—serial, parallel or hybrid—with or without joint limits. Examples of the application of the method to a serial three-degree-of-freedom manipulator, to a hybrid three-degree-of-freedom manipulator and to a parallel three-degree-of-freedom manipulator are given.

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