Engineering based robot optimization methodology

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F19%3A43956263" target="_blank" >RIV/49777513:23520/19:43956263 - isvavai.cz</a>
Result on the web
<a href="https://www.sciencedirect.com/science/article/pii/S2405896319326278" target="_blank" >https://www.sciencedirect.com/science/article/pii/S2405896319326278</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2019.12.678" target="_blank" >10.1016/j.ifacol.2019.12.678</a>

Result language
angličtina
Original language name
Engineering based robot optimization methodology
Original language description
The paper deals with the engineering based methodology for optimal design of non-standard robotic architectures. Two layer algorithm is presented for the optimization of robot kinematic parameters. The first layer includes mathematical optimization of the simplified dynamic model of the robot resulting in a priori estimation of the kinematic parameters. A general objective function for robot joint force/torque minimization is taken into account. The second layer provides an iterative approach which makes possible to adjust the kinematic parameters according to unmodeled engineering requirements. The proposed optimization approach is illustrated on the example of 5 a DoF robot for industrial degreasing machine.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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