Kinematic Structure Optimization of a Modular Planar 3DOF Robotic Manipulator for a Given Task
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F25%3A10258975" target="_blank" >RIV/61989100:27230/25:10258975 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1007/978-3-032-02106-9_36" target="_blank" >https://doi.org/10.1007/978-3-032-02106-9_36</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-032-02106-9_36" target="_blank" >10.1007/978-3-032-02106-9_36</a>
Alternative languages
Result language
angličtina
Original language name
Kinematic Structure Optimization of a Modular Planar 3DOF Robotic Manipulator for a Given Task
Original language description
This paper focuses on optimizing the kinematic structure of a robotic manipulator for a given task. It is a planar manipulator with three degrees of freedom. The problem of designing the kinematic structure of the robotic manipulator, which is assumed to have a modular structure, is addressed. The aim is to find the optimal combination of the lengths of the individual segments that will allow the execution of the specified task. A Genetic Algorithm is used to find the optimal combination of lengths. Planning for collision-free paths is also part of the solution. The path must ensure that the manipulator completes the required task without collisions. The Rapidly exploring Random Tree (RRT) algorithm is used for path planning. Based on this path, the motion trajectory of each link of the manipulator is then designed and optimized. A hybrid optimization approach is used for trajectory planning, considering both time and jerk. The overall approach is directly linked to the concept of modular robots, where flexibility in the composition and adaptation of the kinematic structure play a crucial role in solving diverse tasks in robotics. This work presents a methodology for addressing these challenges through a systematic optimization approach.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
—
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Mechanisms and machine science. Volume 190
ISBN
978-3-032-02105-2
ISSN
2211-0984
e-ISSN
2211-0992
Number of pages
8
Pages from-to
324-331
Publisher name
Springer
Place of publication
Cham
Event location
Bělehrad
Event date
Jun 18, 2025
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—