Kinematic Structure Optimization of a Modular Planar 3DOF Robotic Manipulator for a Given Task

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Kinematic Structure Optimization of a Modular Planar 3DOF Robotic Manipulator for a Given Task

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Kinematic Structure Optimization of a Modular Planar 3DOF Robotic Manipulator for a Given Task

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2025

Kód důvěrnosti údajů

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

Název statě ve sborníku

Mechanisms and machine science. Volume 190

ISBN

978-3-032-02105-2

ISSN

2211-0984

e-ISSN

2211-0992

Počet stran výsledku

8

Strana od-do

324-331

Název nakladatele

Springer

Místo vydání

Cham

Místo konání akce

Bělehrad

Datum konání akce

18. 6. 2025

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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