We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
A Multi-Objective Optimization of a Robotic Arm for Service Tasks.
- Authors
Castejón, Cristina; Carbone, Giuseppe; García Prada, J. C.; Ceccarelli, M.
- Abstract
In this paper, the main characteristics and peculiarities of service tasks are investigated in order to propose the design criteria in the form of computationally efficient objective functions. Then, these design criteria can be implemented in a multi-objective optimization algorithm by using ever commercial packages in order to obtain optimal design solutions for service robots. The proposed procedure has been applied to a robotic arm for service tasks. It is composed of two modules with four degrees of freedom (dofs). The main module with two dofs is called SIDEMAR (Spanish acronym of Mechatronic Design of an Integrated System for Service Robots). It has been designed and built at the Carlos III University of Madrid as a module for service robot applications. Results of the above-mentioned case study are reported to show both the soundness and engineering feasibility of the proposed multi-objective optimal design procedure.
- Subjects
ROBOTICS; EXPERIMENTAL design; ROBOTS; MACHINE theory; COMPUTER algorithms; FEASIBILITY studies
- Publication
Journal of Mechanical Engineering / Strojniški Vestnik, 2010, Vol 56, Issue 5, p316
- ISSN
0039-2480
- Publication type
Article