A mathematical optimization methodology for the optimal design of a planar robotic manipulator

DOI<535::AID-NME517>3.0.CO;2-3 10.1002/(SICI)1097-0207(19990210)44:4<535::AID-NME517>3.0.CO;2-3zbMath0949.74051OpenAlexW2034633960MaRDI QIDQ4267083

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Publication date: 2 December 1999

Full work available at URL: https://doi.org/10.1002/(sici)1097-0207(19990210)44:4<535::aid-nme517>3.0.co;2-3

zbMATH Keywords

energy minimizationpenalty functionsoptimal designminimal averaged torquetask trajectorythree-link revolute robot

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Optimization of other properties in solid mechanics (74P10) Robot dynamics and control of rigid bodies (70E60)

Related Items

Optimization-based motion prediction of mechanical systems: sensitivity analysis ⋮ The influence of joint angle constraints on the optimum design of a planar robot manipulator following a complicated prescribed path ⋮ The LFOPC leap-frog algorithm for constrained optimization

Cites Work

• An improved version of the original leap-frog dynamic method for unconstrained minimization: LFOP1(b)
• A new and dynamic method for unconstrained minimization
• Penalty function solutions to optimal control problems with general constraints via a dynamic optimisation method
• A dynamic penalty function method for the solution of structural optimization problems