» Download Article

Authors
H. Valsamos, Th. Nektarios, N. A. Aspragathos

Identifier
None

Index Terms
optimal trajectory location,robotic manipulators design

Abstract
On this paper, the objective is to introduce an optimization algorithm in order to determine the near optimal location of a path following task for a 6 D.O.F. non redundant manipulator, so that its end-effector can follow a given 3D curve and orientation, taking into account the maximization of the robot velocity performance. The optimization is conducted using as an objective function the minimum value of the Manipulator Velocity Ratio (MVR) along the path, producing the largest possible end-effector velocity while maintaining minimum joint speed values. The optimization of the objective function is based on Genetic Algorithms. The minimum of the MVR is determined by a technique which approximates the given path using cubic interpolation for the position and squad interpolation based on quaternions for the orientation. A large number of experiments show the effectiveness of the proposed approach and the most indicative of the results are presented and discussed at the end of the paper.

References

[1] Asokan T., Seet G., Lau M., Low E. (2005),
    Optimum positioning of an underwater
    intervention robot to maximize workspace
    manipulability, Mechatronics, 15, 747-766.
[2] Aspragathos N. (1988), Cartesian Trajectory
    Generation under Bounded Position Deviation,
    Mechanisms and Machine Theory 33(6), 697-
    709.
[3] Aspragathos N., Foussias S. (2002), Optimal
    location of a robot path when considering
    velocity performance, Robotica, 20, 139-147.
[4] Bowling A., Khatib O. (2005), The Dynamic
    Capability Equations: A New Tool for
    Analyzing Robotic Manipulator Performance,
    IEEE Transaction on Robotics, 21(1), 115-123.
[5] Chedmail P., Wenger Ph. (1989), Design and
    Positioning of a Robot in an Environment with
    Obstacles using Optimal Research, IEEE
    Conference on Robotics and Automation
    (1989), 1069-1074.
[6] Dam E.B., Koch M., Lillholm M. (1998),
    Quaternions Interpolation and Animation,
    University of Copenhagen, Denmark.
[7] Dissanayake M., Gal J. (1994), Workstation
    planning for Redundant Manipulators, Int. J.
    Production Research, 32(5), 1105-1118.
[8] Edan Y., Flash T., Peiper U., Shmulevich I., Sarig
    Y. (1991), Near-minimum Time Task Planning
    for Fruit Picking Robots, IEEE Transactions
    on Robotics and Automation 7(1), 48-56.
[9] Fang Y.C., Hsieh C.C., Kim M.J, Chang J.J, Woo
    T.C. (1998). Real Time Motion Fairing with
    Unit Quaternions, Computer - Aided Design,
    30(3), 191-198.
[10] Nearchou A.C., Aspragathos N. (1995), Obstacle
     Avoidance Control of Redundant Manipulators
     Using Genetic Algorithms, 3rd IEEE
     Mediterranean Symposium Directions in
     Control and Automation, Limassol, Cyprus,
     60-67.
[11] Nelson B., Donath M. (1990), Optimizing the
     location of Assembly Tasks in a Manipulator's
     Workspace, Robotic System 7(6), 791-811.
[12] Petiot J., Chedmail P., Hascoet J. (1998),
     Contribution to the Scheduling of Trajectories
     in Robotics, Robotics and Computer
     Integrated Manufacturing 14, 237-251.
[13] Whitney D.E., (1972), The Mathematics of Co-ordinated
      Control of Prosthetic Arms and
     Manipulators, J. Dynamic Systems
     Measurement and Control 94, 303-309.
[14] Zacharia P. Th., Aspragathos N. A. (2005),
     Optimal Robot Task Scheduling based on
     Genetic Algorithms, Robotics and Computer-Integrated
      Manufacturing, 21(1), 67-79.