TAILIEUCHUNG - Robot Manipulators_2

Tham khảo sách 'robot manipulators_2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 15 Link Mass Optimization Using Genetic Algorithms for Industrial Robot Manipulators Serdar Kucuk and Zafer Bingul Kocaeli University Turkey 1. Introduction Obtaining optimum energy performance is the primary design concern of any mechanical system such as ground vehicles gear trains high speed electromechanical devices and especially industrial robot manipulators. The optimum energy performance of an industrial robot manipulator based on the minimum energy consumption in its joints is required for developing of optimum control algorithms Delingette et al. 1992 Garg Ruengcharungpong 1992 Hirakawa Kawamura 1996 Lui Wang 2004 . The minimization of individual joint torques produces the optimum energy performance of the robot manipulators. Optimum energy performance can be obtained to optimize link masses of the industrial robot manipulator. Having optimum mass and minimum joint torques are the ways of improving the energy efficiency in robot manipulators. The inverse of inertia matrix can be used locally minimizing the joint torques Nedungadi Kazerouinian 1989 . This approach is similar to the global kinetic energy minimization. Several optimization techniques such as genetic algorithms Painton Campbell 1995 Chen Zalzasa 1997 Choi et al. 1999 Pires Machado 1999 Garg Kumar 2002 Kucuk Bingul 2006 Qudeiri et al. 2007 neural network Sexton Gupta 2000 Tang Wang 2002 and minimax algorithms Pin Culioli 1992 Stocco et al. 1998 have been studied in robotics literature. Genetic algorithms GAs are superior to other optimization techniques such that genetic algorithms search over the entire population instead of a single point use objective function instead of derivatives deals with parameter coding instead of parameters themselves. GA has recently found increasing use in several engineering applications such as machine learning pattern recognition and robot motion planning. It is an adaptive heuristic search algorithm based on the evolutionary ideas of natural selection and .

• Cơ khí - Chế tạo máy
• Handbook of mechanical engineering
• mechanical engineering
• mechanical design
• mechanical materials
• alloy materials
• Energy Technology
• Mechanical engineering handbook
• Mechanics of solids
• Engineering thermodynamics
• fluid mechanics
• Heat and mass transfer
• Electrical engineering
• Mechanical system controls
• Energy resouces
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• Electronic packaging technologies
• Engineering design
• Environmental engineering
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• instructions for mechanical engineering exam
• robotics