Finding optimal manipulator arm shapes to avoid collisions in a static environment

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F21%3A10246291" target="_blank" >RIV/61989100:27230/21:10246291 - isvavai.cz</a>
Result on the web
<a href="https://www.mdpi.com/2076-3417/11/1/64" target="_blank" >https://www.mdpi.com/2076-3417/11/1/64</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/app11010064" target="_blank" >10.3390/app11010064</a>

Result language
angličtina
Original language name
Finding optimal manipulator arm shapes to avoid collisions in a static environment
Original language description
In situations of a confined workplace with a lot of obstacles and a complicated required trajectory of the endpoint of an industrial or collaborative robot, it may be impossible to find a suitable robot and its position within the workplace to fulfill the given task. In some cases, it could be favorable to design a custom manipulator arm with an unusual kinematic structure or shapes of some of its links. This article presents a novel way of finding the optimal lengths and shapes of two crucial links of a manipulator arm, where the target lengths are as short as possible to reduce mass, and the shape in the form of a Bézier curve is chosen to avoid collisions. The chosen type of kinematic structure of the manipulator arm is fixed and is based on the most typical structure of existing industrial robots, with six degrees of freedom. Two algorithm variants were proposed; one method uses iterations to find the solution based on in-depth collision analysis, and the second method uses the particle swarm optimization algorithm. Both methods were implemented in a simulation system and verified in several testing workplaces. (C) 2020 by the authors. Licensee MDPI, Basel, Switzerland.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control

Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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