The Location Optimization of the Mission Space Based on the Stiffness of Robot

Abstract

Based on the characteristic that the change of the space posture will be a great influence on the error in the operating end when the articulated robot is used for cutting,in the case of the robot structure and the the cutting load in the operating end certain, based on the stiffness model of the robot system ,the paper makes the deformation of the operating end of the robot as the objective function with the genetic algorithms to optimize the space position of the operational mission of the robot, finally verify it with examples.