Concurrent optimal design of modular robotic configuration

DOI10.1002/1097-4563(200102)18:2%3C77::AID-ROB1007%3E3.0.CO;2-AMaRDI QIDQ2709738zbMATH OpenFDO

Authors Z. M. Bi, W. J. Zhang

Publication date 13 March 2003

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/1097-4563(200102)18:2%3C77::AID-ROB1007%3E3.0.CO;2-A

zbMATH Keywords

concurrent optimal designgenetic algorithmkinematicsmodular jointsmodular robotic systemtwo-degree-of-freedom robotic system

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Review text

A modular robotic system is a system which consists of several links and modular joints with standardized connecting interfaces. Here a new optimization design methodology, called a concurrent one, is applied to these systems. The authors treat traditional and dimensional syntheses in a unified manner, and define variables for each type of synthesis. A genetic algorithm (GA) is used to study two-degree-of-freedom robotic system, and diagrams present numerical results for the choice of design variables and for the average and maximum fitness vs. GA generation.

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Cites work

• Estimation of optimal profit for a production process with unknown variance

Cited in

(15)

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