Motion coordination for industrial robotic systems with redundant degrees of freedom

Vosniakos, GC; Kannas, Z

dc.contributor.author	Vosniakos, GC	en
dc.contributor.author	Kannas, Z	en
dc.date.accessioned	2014-03-01T01:31:15Z
dc.date.available	2014-03-01T01:31:15Z
dc.date.issued	2009	en
dc.identifier.issn	0736-5845	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/19763
dc.subject	Robot motion planning	en
dc.subject	Redundancy	en
dc.subject	Genetic algorithms	en
dc.subject.classification	Computer Science, Interdisciplinary Applications	en
dc.subject.classification	Engineering, Manufacturing	en
dc.subject.classification	Robotics	en
dc.subject.other	GENETIC ALGORITHM	en
dc.subject.other	MANIPULATORS	en
dc.title	Motion coordination for industrial robotic systems with redundant degrees of freedom	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/j.rcim.2008.02.005	en
heal.identifier.secondary	http://dx.doi.org/10.1016/j.rcim.2008.02.005	en
heal.language	English	en
heal.publicationDate	2009	en
heal.abstract	This work investigates how to distribute in an Optimum fashion the desired movement of the end-effector of an industrial robot with respect to the workpiece, when there are redundant degrees of freedom, such as a positioning table. The desired motion is given as a series of acceleration functions in respective time intervals. The constraints of the optimisation are the available acceleration limit of axes, such as the table axes, the upper bounds to velocity and displacement of each axis and the avoidance of singular point areas of the robot, as defined by its manufacturer. The optimisation criterion is minimum total work for the motion. A genetic algorithm was used to solve the problem. The fitness function of the genetic algorithm calls a kinematics and dynamics simulation model of the robotic installation constructed in Matlab (TM), in order to compute the work consumed and to check possible violation of constraints. Examples of straight line and circular movement are given to prove the concept. Results are encouraging, yet demand on Computing power is high. (c) 2008 Elsevier Ltd. All rights reserved.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING	en
dc.identifier.doi	10.1016/j.rcim.2008.02.005	en
dc.identifier.isi	ISI:000262147700015	en
dc.identifier.volume	25	en
dc.identifier.issue	2	en
dc.identifier.spage	417	en
dc.identifier.epage	431	en