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

Ingeniería y Ciencia

Duque Muñoz, Leonardo¹  Ramírez Henao, Juan Camilo¹ 

[1] Instituto Tecnológico Metropolitano, Medellín, Colombia

关键词: path planning;    robotics;    multi-criteria optimization;    heuristic algorithm;    manipulability;    electric consumption     1 Introducción Los robots manipuladores son herramientas idóneas para automatizar muchos de los procesos productivos;    gracias a que estos aumentan la productividad y calidad;    y disminuyen los costos de producción y mano de obra [1];   

DOI  :  10.17230/ingciencia.11.21.3

学科分类：工程和技术（综合）

来源: Universidad E A F I T

【 摘 要 】

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.

【 授权许可】

Unknown