Optimal design of 3R manipulators by using classical techniques and simulated annealin

Abstract

In this paper, the optimum design of 3R manipulators is formulated and solved by using an algebraic formulation of workspace boundary. A manipulator design can be approached as a problem of optimization, in which the objective functions are the size of the manipulator and workspace volume; and the constrains can be given as a prescribed workspace volume. The numerical solution of the optimization problem is investigated by using two different numerical techniques, namely, sequential quadratic programming and simulated annealing. Numerical examples illustrate a design procedure and show the efficiency of the proposed algorithms

Optimal dimension of redundant manipulator using the workspace density function

“…The method had faster convergence and was used to address optimization problems in a highly constrained environment. Lanni et al 10 optimized the design of 3R manipulators using an algebraic formulation of the workspace boundary. They developed a multi-objective optimization approach.…”

A Comparative Study Using Shuffled Complex Evolution and Differential Evolution Applied to Robotic Manipulator Design

“…Ceccarelli [7] presented an algebraic formulation to determine the workspace of revolution manipulators. Lanni et al [15] investigated and solved the design of manipulators in the form of an optimization problem that takes into account the characteristics of the workspace. They applied two different numerical techniques: the first using sequential quadratic programming (SQP) and simulated annealing.…”

Aplicação de Algoritmos Genéticos para o Projeto ótimo de Manipuladores 3R Considerando Envoltórias Regulares

“…Também foram feitos estudos sobre a relação entre as equações do manipulador e o surgimento de regiões de singularidade. Para melhor entendimento sobre o assunto, recomenda-se os trabalhos de Lanni et al [9] e Saramago et al [12].…”