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

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Juan Camilo Ramirez Henao
Instituto Tecnológico Metropolitano - Medellín

Leonardo Duque Muñoz
Instituto Tecnológico Metropolitano
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

 

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Published
Jan 1, 2015
DOI https://doi.org/10.17230/ingciencia.11.21.3

Article Details

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
Issue
Vol. 11 No. 21 (2015)
Section
Articles
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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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