Design and optimization of 3R manipulators using the workspace features

The objective of this work is to contribute with a study of the workspace boundary of manipulators with three-revolute joints (3R). An optimization problem is formulated in which the workspace volume is the objective function. Penalties are imposed to minimize the voids and control the total area, f...

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Bibliographic Details
Published in:Applied mathematics and computation 2006, Vol.172 (1), p.439-463
Main Authors: Bergamaschi, Paulo Roberto, Nogueira, Antônio Carlos, de Fátima Pereira Saramago, Sezimária
Format: Article
Language:English
Subjects:
Applied sciences
Calculus of variations and optimal control
Combinatorics
Combinatorics. Ordered structures
Computer science
control theory
systems
Control theory. Systems
Designs and configurations
Envelope
Exact sciences and technology
Mathematical analysis
Mathematics
Numerical analysis
Numerical analysis. Scientific computation
Numerical methods in mathematical programming, optimization and calculus of variations
Optimization
Robot manipulator
Robotics
Sciences and techniques of general use
Singularities
Workspace
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Summary:The objective of this work is to contribute with a study of the workspace boundary of manipulators with three-revolute joints (3R). An optimization problem is formulated in which the workspace volume is the objective function. Penalties are imposed to minimize the voids and control the total area, forcing it to occupy a pre-established area. Numerical examples are given and the optimization problem is investigated using sequential techniques.
ISSN:0096-3003
1873-5649
DOI:10.1016/j.amc.2005.02.024