Optimización de manipulabilidad y consumo eléctrico mediante el Algoritmo Heurístico de Kalman en manipuladores seriales
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Keywords
planeación de trayectorias, robótica, optimización multicriterio, algoritmo heurístico, manipulabilidad, consumo eléctrico, algoritmo Heurístico de Kalman
Resumen
En el presente trabajo se plantea una metodología de planeación de trayectorias para manipuladores seriales antropomórficos de seis grados de libertad y muñeca esférica enfocada en la minimización del consumo eléctrico y maximización de la manipulabilidad. Para lograr tal fin se expone un algoritmo de optimización el cual tiene como base el Algoritmo Heurístico de Kalman (AHK), cuya finalidad es encontrar la trayectoria óptima según la función multi-objetivo propuesta dentro de un espacio esférico simplificado propuesto. El algoritmo de optimización se evalúa mediante el análisis del comportamiento de dos trayectorias en el manipulador PUMA 560, simuladas en un programa desarrollado en la aplicación de Visual Basic perteneciente al software Autodesk Inventor.
MCS: 80M50
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