Task-oriented configuration design for reconfigurable parallel manipulator systems

Dash, Anjan Kumar; Chen, I‐Ming; Yeo, Song Huat; Yang, Guilin

doi:10.1080/09511920500069192

Cited by 35 publications

(16 citation statements)

References 12 publications

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“…Furthermore, at this level, the reconfiguration of the resources is desired to derive from small autonomous components that can be reconfigured to achieve the desired task. For instance, Dash et al [50] have presented a parallel manipulator, which is made up of interchangeable actuator modules, passive joint modules and customizable links and connectors. The final manipulator can have different structures and degrees of freedom (DOF) which are determined by a two-stage design methodology that can consider the actual assembly task requirements.…”

Section: Shop Floor Scheduling and Controlmentioning

confidence: 99%

Decision making logic for flexible assembly lines reconfiguration

Michalos

Sipsas

Makris

et al. 2016

Robotics and Computer-Integrated Manufacturing

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Section: Shop Floor Scheduling and Controlmentioning

confidence: 99%

Decision making logic for flexible assembly lines reconfiguration

Michalos

Sipsas

Makris

et al. 2016

Robotics and Computer-Integrated Manufacturing

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“…In [16], Al-Dios, et al, proposed a method for optimizing the link lengths, masses and trajectory parameters of a serial manipulator with known DH table using direct non-gradient search optimization. Dash, et al [17], propose a two stage methodology for structure and parameter optimization of reconfigurable parallel manipulator systems. They propose a 'TaskToRobot Map' database that maps task description to a suitable manipulator configuration depending on the degrees of freedom required for a given task.…”

Section: Existing Approaches and Limitationsmentioning

confidence: 99%

Using task descriptions for designing optimal task specific manipulators

Patel

Sobh

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Industrial robotic manipulators are designed and built to perform certain predetermined tasks. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and/or performance constraints can be specified in terms of the required end-effector positions, orientations along the task trajectory. In this work, we define, develop and test a methodology that can generate optimal manipulator geometric structures based on the task requirements. Another objective of this work is to guarantee task performance under user defined joint constraints. Using this methodology, task-specific optimal manipulator structures can be generated that guarantee task performance under a set of operating constraints.

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“…Dash et al [6], propose a two stage methodology for structure and parameter optimization of reconfigurable parallel manipulator systems. They propose a 'TaskToRobot Map' database that maps task description to a suitable manipulator configuration depending on the degrees of freedom required for a given task.…”

Section: Task-based Design Approachmentioning

confidence: 99%

Goal Directed Synthesis of Serial Manipulators Based on Task Descriptions

Patel

Sobh

Mahmood

2014

Chaos Modeling and Control Systems Design

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Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters) of a non-redundant six degree of freedom serial manipulator from task descriptions. This methodology is devised to investigate possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations selected. Next, these candidate structures are then tested to see if they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Finally, the synthesized structures are tested to see if they perform the task under the operating constraints. In this work, we also present a novel approach for computing the inverse kinematics using Particle Swarm Optimization (PSO).

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Task-oriented configuration design for reconfigurable parallel manipulator systems

Cited by 35 publications

References 12 publications

Decision making logic for flexible assembly lines reconfiguration

Decision making logic for flexible assembly lines reconfiguration

Using task descriptions for designing optimal task specific manipulators

Goal Directed Synthesis of Serial Manipulators Based on Task Descriptions

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