A Multiobjective Optimisation Approach to Robot Kinematic Design
Arising requirements to robot productivity and quality of work challenge to robot designers abilities. The proper performance of industrial robots can be achieved through the careful design of manipulators, drive systems and controllers. A number of performance measures have been proposed which provide a representation of selected aspects of manipulator performance. Since these each represent alternative facets of performance it is desirable to include several of them as objectives in optimisation problem and treat it as multiobjective one. So as the objectives will be competing with one another during the optimisation sequence, there is no unique solution to this problem. Rather, there is a set of solutions termed Pareto-optimal solutions that may be regarded as a trade-off surface from which designer selects a compromise solution.
KeywordsLink Length Joint Velocity Kinematic Design Goal Versus Robot Productivity
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