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Multi-criteria optimization of robots for planar trajectory operations

  • Part 3 Mechanics 3
  • Conference paper
  • First Online:
RoManSy 9

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 187))

  • 156 Accesses

Abstract

The paper is devoted to the solution of some optimization problems related to the robot-manipulators, which perform planar trayectory operations. The optimization technics proposed in the paper are applied to a technological device comprising an arbitrary structure robot interacting with one DOF work-table. This table rotates atound an axis coinsiding with the axis of the first joint of the robot. The end-effector characteristic point tracks the planar trajectory firmly connected with the work-table. Solutions are found minimizing the following performance criteria: 1) maximal deviation of the radius-vector of the end-effector; 2)maximal deviation of the curve angular velocity of the work-table; 3) maximal deviation of the angle between the normal to the curve and radius-vector.

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References

  1. Scheinman,V. and B.Roth. On the Optimal Selection and Placement of Manipulators. RoManSy'84, Udine, Italy, 26–29june, 1984.

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  2. Genova,P., K.Ganchev and J.Dejanov. Optimum Placement and Algorithm for Control of the Manipulator. Eight World Congres on the Theory of Mashines and Mechanisms. Praha, 26–29aug., 1991.

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  3. Konstantinov,M. First Principle of Mechatronics: Motion Distribution with Respect to the Space and Time. IFToMM symp., Bulgaria, 1987.

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  4. Konstantinov,M et al. Mechatronica. Seventh World Congress on the Theory of Mashines and Mechanisms. Sevilla, Spain, 17–22sept., 1987.

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Authors and Affiliations

  1. Bulgaria, Technical University, 8800, Sliven

    M. S. Konstantinov, P. J. Genova & K. G. Ganchev

Authors
  1. M. S. Konstantinov
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  2. P. J. Genova
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  3. K. G. Ganchev
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Editor information

A. Morecki G. Bianchi K. Jaworek

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© 1993 Springer-Verlag London Limited

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Konstantinov, M.S., Genova, P.J., Ganchev, K.G. (1993). Multi-criteria optimization of robots for planar trajectory operations. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) RoManSy 9. Lecture Notes in Control and Information Sciences, vol 187. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0031438

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  • DOI: https://doi.org/10.1007/BFb0031438

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19834-5

  • Online ISBN: 978-3-540-39315-3

  • eBook Packages: Springer Book Archive

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