Genetic-algorithm-based global design optimization of tree-type robotic systems involving exponential coordinates
| Autor: | Julien Amar, Kenji Nagase |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Computer science Mechanical Engineering Coordinate system Aerospace Engineering 02 engineering and technology Kinematics 01 natural sciences Computer Science Applications Exponential function Mechanical system Matrix (mathematics) Tree (data structure) 020901 industrial engineering & automation Control and Systems Engineering Position (vector) 0103 physical sciences Signal Processing Genetic algorithm 010301 acoustics Algorithm Civil and Structural Engineering |
| Zdroj: | Mechanical Systems and Signal Processing. 156:107461 |
| ISSN: | 0888-3270 |
| DOI: | 10.1016/j.ymssp.2020.107461 |
| Popis: | This paper proposes the simultaneous design optimization of the geometry (joint position and directions) and the topology (joint distribution and connection) of tree-type robotic systems based on an exponential coordinate system expression. Tree-type systems represent a versatile system expression of mechanical systems comprising multiple serial link chains branching from the root. Previously, we derived general closed-form formulas of the kinematics and dynamics of tree-type systems in exponential coordinates by introducing a connectivity matrix called the chain matrix. In this study, these results are first extended to floating base and closed-chain systems to enlarge the system framework. Next, the efficient coding of the system parameters by using a genetic algorithm (GA) is demonstrated. The closed-form formulas of the kinematics and dynamics allow for cost evaluations through numerical simulations with feedback control. Design examples of a robotic platform and a grasping/manipulation system illustrate the proposed optimization process. |
| Databáze: | OpenAIRE |
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