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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Applied Sciences

ISSN

2076-3417

e-ISSN

—

Svazek periodika

11

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

23

Strana od-do

1-23

Kód UT WoS článku

000605894100001

EID výsledku v databázi Scopus

2-s2.0-85098643375