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

DOI10.1002/(SICI)1097-0207(19990210)44:4%3C535::AID-NME517%3E3.0.CO;2-3zbMATH Open0949.74051OpenAlexW2034633960MaRDI QIDQ4267083FDOQ4267083

Authors

Publication date 2 December 1999

Full work available at URL https://doi.org/10.1002/(sici)1097-0207(19990210)44:4%3C535::aid-nme517%3E3.0.co;2-3

zbMATH Keywords

optimal designenergy minimizationpenalty functionsminimal averaged torquetask trajectorythree-link revolute robot

Mathematics Subject Classification ID

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

Recommendations

• Optimization of the trajectory planning of robot manipulators taking into account the dynamics of the system.
• On the Optimization of Robotic Manipulator Trajectories With Bounded Joint Actuators or Joint Kinetic Loads Considered as Control Variables
• scientific article; zbMATH DE number 3991383
• Parametric optimization of four-link closed-chain manipulator with active and passive actuators
• Optimality in robot design and control

Cites work

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

Cited in

(9)

• Optimization problems and methods in manipulation system investigation
• Design-Simulation-Optimization Package for a Generic 6-DOF Manipulator with a Spherical Wrist
• Design Optimization of a Manipulator for CERN’s Future Circular Collider (FCC)
• Optimization-based motion prediction of mechanical systems: sensitivity analysis
• Comparative study of SQP and metaheuristics for robotic manipulator design
• 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
• Parametric optimization of four-link closed-chain manipulator with active and passive actuators
• scientific article; zbMATH DE number 4068370 (Why is no real title available?)

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