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

Authors

DOI:

https://doi.org/10.17230/ingciencia.11.21.3

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

 

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Author Biography

  • Juan Camilo Ramirez Henao, Instituto Tecnológico Metropolitano - Medellín

    Estudiante Maestría Automatización y control Industrial ITM. Actual.

    Ingeniero mecánico graduado de la Universidad EAFIT en el año 2000

    Profesional de Industrialización y Mantenimiento en CELSA SAS Medellín. 2007-Actual

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Published

2015-01-01

Issue

Vol. 11 No. 21 (2015)

Section

Articles

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How to Cite

Ramirez Henao, J. C., & Duque Muñoz, L. (2015). Optimization of Manipulability and Electricity Consumption Through the Heuristic Kalman Algorithm in Serial Manipulators. Ingeniería Y Ciencia, 11(21), 51-71. https://doi.org/10.17230/ingciencia.11.21.3