Optimization of Manipulability and Electricity Consumption Through the Heuristic Kalman Algorithm in Serial Manipulators

Main Article Content

Juan Camilo Ramirez Henao
Leonardo Duque Muñoz https://orcid.org/0000-0001-7115-3870

Keywords

path planning, robotics, multi-criteria optimization, heuristic algorithm, manipulability, electric consumption

Abstract

In the present work a path planning methodology for serial anthropomorphic manipulator with six degrees of freedom with spherical wrist focused on minimizing power consumption and maximizing the manipulability is proposed. To achieve this end, an optimization algorithm is developed which is based on the Heuristic Kalman Algorithm (HKA), and aims to find the optimal path according to the proposed multi-objective function within a proposed simplified spherical space. The optimization algorithm is evaluated by analyzing the behavior of two paths in the PUMA 560 robot, simulated in a program developed in Visual Basic belongs to Autodesk Inventor software.

MCS: 80M50

 

Downloads

Download data is not yet available.
Abstract 776 | PDF (Español) Downloads 493 HTML (Español) Downloads 6892

References

J. S. Son, I. S. Kim, H. H. Kim, I. J. Kim, B. Y. Kang,and H. J. Kim, "A study on the prediction of bead geometryin the robotic welding system," Journal of Mechanical Science andTechnology, vol. 21, no. 10, pp. 1726–1731, Oct. 2007.

A. Lanzutti, "Smooth Trajectory Planning Algorithms for IndustrialRobots: An Experimental Evaluation," International journaloJ engineering, vol. 1, pp. 127–132, 2011.

T. Yoshikawa, "Analysis and control of robot manipulatorswith redundancy," Robotics research: the first international. . ., pp. 735–737, 1984.

T. Urakubo, T. Mashimo, and T. Kanade, "Optimal placement of a two-linkmanipulator for door opening," 2009 IEEE/RSJ International Conferenceon Intelligent Robots and Systems, pp. 1446–1451, 2009.

S. Mitsi, K.-D. Bouzakis, D. Sagris, and G. Mansour, "Determinationof optimum robot base location considering discrete end-effector positionsby means of hybrid genetic algorithm," Robotics and Computer-IntegratedManufacturing, vol. 24, no. 1, pp. 50–59, 2008.
http://dx.doi.org/10.1016/j.rcim.2006.08.003

R. R. D. Santos, "Optimal Task Placement of a Serial Robot Manipulatorfor Manipulability and Mechanical Power Optimization," IntelligentInformation Management, vol. 02, no. 09, pp. 512–525, 2010.

R. Ur-rehman, D. Chablat, and P. Wenger, "Multiobjective PathPlacement Optimization of Parallel Kinematics Machines Based onEnergy Consumption, Shaking Forces and Maximum ActuatorsTorques : Application to the Orthoglide," Mechanism and MachineTheory, vol. 8, pp. 1125–1141, 2010.
http://dx.doi.org/10.1016/j.mechmachtheory.2010.03.008

G. S. Sharma, M. Singh, and T. Singh, "Optimization of Energy inRobotic arm using Genetic Algorithm," InternatIonal Journal of ComputerSCIenCe and teChnology, pp. 2009–2011, 2010.

Z. Liu, P. Huang, J. Yan, and G. Liu, "Multi-objectivegenetic algorithms for trajectory optimization of space manipulator,"2009 4th IEEE Conference on Industrial Electronicsand Applications, pp. 2810–2815, May 2009.

A. Khoukhi, L. Baron, and M. Balazinski, "Constrained multi-objectivetrajectory planning of parallel kinematic machines," Robotics and Computer-Integrated Manufacturing, vol. 25, no. 4-5, pp. 756–769, 2009.
http://dx.doi.org/10.1016/j.rcim.2008.09.002

R. Saravanan, S. Ramabalan, and C. Balamurugan, "Evolutionaryoptimal trajectory planning for industrial robot with payload constraints,"The International Journal of Advanced Manufacturing Technology,vol. 38, no. 11-12, pp. 1213–1226, 2007.
http://dx.doi.org/10.1007/s00170-007-1169-7

S. Briot and I. A. Bonev, "Are parallel robots more accurate thanserial robots?" Transactions of the Canadian Society for MechanicalEngineering, vol. 31, no. 4, pp. 445–455, 2007.

R. Toscano and P. Lyonnet, "Heuristic Kalman Algorithm forsolving optimization problems," Systems, Man, and Cybernetics,Part B: . . ., pp. 1231–1244, 2009.

T. Yoshikawa, "Translational and rotational manipulabilityof robotic manipulators," American Control Conference,1990, no. 8, pp. 1170–1175, 1990.

J. C. Ramírez Henao, J. A. Garzón Jaramillo, and L. DuqueMu-oz, "Manipulability index study on the KUKA robot KR5ARC HW," Signal Processing, and Artificial Vision (STSIVA), 2012XVII Symposium of Image, pp. 72–77, 2012.

M. W. Spong and M. Vidyasagar, Robot dynamics and control. Wiley. com,2008.

R. Toscano and P. Lyonnet, "A new heuristic approach fornon-convex optimization problems," Information Sciences, vol.180, no. 10, pp. 1955–1966, May 2010.
http://dx.doi.org/10.1016/j.ins.2009.12.028

B. Armstrong, O. Khatib, and J. Burdick, "The explicit dynamicmodel and inertial parameters of the PUMA 560 arm,"Robotics and Automation. . . ., pp. 510–518, 1986.

P. I. Corke, "In situ Measurement of Robot Motor Electrical Constants,"Robotica, vol. 14, no. 4, pp. 433–436, 1996. [Online]. Available:http://goo.gl/GwPyxc
http://dx.doi.org/10.1017/S0263574700019834

Tregaskiss, "TOUGH GUN G2 Series Robotic MIG Guns." 2012. [Online].Available: http://goo.gl/W3HrGF

Compucraft Ltd, "RobotWorks - Robotic interface for SolidWorks," 1994.[Online]. Available: ttp://www.robotworks-eu.com/products/faq-Kuka.html