Process-conditioned robot optimization

DOI10.1002/ZAMM.200108115105MaRDI QIDQ2746109zbMATH OpenOpenAlexFDO

Publication date 4 March 2004

Published in ZAMM. Zeitschrift für Angewandte Mathematik und Mechanik (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/zamm.200108115105

generalized position vector nonlinear vector optimization problems optimization criteria robot PUMA 500 spring-damper connection

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

Review text

After presenting the nonlinear system of differential equations of motion for generalized position vector (with nine degrees of freedom for elastic and six degrees of freedom for a rigid spring-damper connection), the authors identify various optimization parameters. They use three specific criteria for nonlinear vector optimization problems introduced by \textit{G. Prokop} and \textit{F. Pfeiffer} [Proc. of IEEE Int. Conf. on Robotics and Automation, 2182-2187 (1996)]. The optimized behavior is presented for different optimization criteria based on numerical results for robotic fitting of a rubber gasket into a channel by using the robot PUMA 500.

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