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Humanoids are increasingly used in the service sectors around the world to work with, or assist humans. However current humanoid designs place limitations on direct engagement with the human in terms of safety and usability. In this paper, we present an approach for the control of hybrid, high-speed and safe human-robot interaction systems with highly non-linear dynamic behavior. The proposed approach...
Industrial implementation of robots is to perform the assigned tasks in the minimum possible time in the cycle comes up to increase productivity and reduce the cost. The cycle time is strongly linked to the robot trajectory cycle to the task. However, the optimization of the robot trajectory cycle the robot visited a set of points which represent the robotics task. Similar to persons in traveling...
Optimal trajectory planning for robot manipulators is a very important issue in the research field of robotics. Many applications require smooth trajectories and the minimization of a performance index, usually the traveling time or the mechanical energy of the actuators. This paper presents a novel method that uses eighth-degree polynomial functions to generate smooth trajectories for the parametric...
The trajectory of a revolute welding robot with six joints was planned in order to make the trajectory smooth and working time optimal. The time intervals between each point to be welded in Cartesian space were coded in binary, and the trajectory was implemented using an adaptive genetic algorithm while considering constraints of displacement, velocity, acceleration and jerk of each joint. According...
Robotic manipulators with three-revolute (3R) positional configurations are very common in the industrial robots (IRs). The capability of a robot largely depends on the workspace (WS) of the manipulator apart from other parameters. With the constraints in mind the optimization of the workspace is of prime importance in designing the manipulator. The present work aims at obtaining an optimal design...
The goal of this work is the development and performance analysis of control algorithms for new soft fluidic actuators with rotary elastic chambers (REC-actuators). Due to their inherent compliancy these actuators fulfill the requisites for building intrinsically safe mechanisms as assistance robots and motion therapy devices, working in direct physical contact with humans. Besides the difficulties...
This paper propose a multi-objective optimization algorithm to optimize the motion path of space manipulator with multi-objective function. In this formulation, Multi-Objective Genetic Algorithm (MOGA) is used to minimize the multi-objective function. The planning procedure is performed in joint space and with respect to all constraints, such as joint angle constraints, joint velocity constraints,...
A novel progressive genetic algorithm was developed for motion planning of a three-limbed robot. The proposed motion planning method can be used to find a optimal joints trajectory from the initial to the final position and orientation. On the basis of the genetic algorithm a kind of variable structure genetic algorithm was proposed to solve the problem of motion planning of the three-limbed in dynamic...
The study presented in this paper aims at achieving optimal paths for a human-performed assembly task. Optimality, from an operator's point of view, means that minimal fatigue occurs. Trajectories for assembly parts, generated by potential fields, are optimized in terms of the work the operator has to do. Optimization is carried out by genetic algorithm. The trajectories have to satisfy the constraints...
A new approach based on fuzzy genetic algorithm is developed to find the time-jerk synthetic optimal trajectory of robot with a joint space scheme using cubic splines. In order to get the optimal trajectory, cubic splines are employed and derived under the constraint condition of velocity and acceleration of the first and last point, which assure overall continuity of velocity and accelerations on...
The essential problem in controlling robots is to make the manipulator follow a desired trajectory. This paper presents the genetic algorithm tuned fuzzy PID controller (GAFPID) to follow the desired trajectory for a three degree of freedom (DOF) robot arm. Numerical simulation using the dynamic model of three DOF robot arm shows the effectiveness of the approach in trajectory tracking problems. Comparative...
This paper would presents the path control of a dexterous robotic hand finger reaching in a given search space. The proposed system would adopt the advantages of genetic algorithm (GA) to optimize the system performance in terms of path control, speed and accuracy. The system would search for a valid path and optimal velocity. A new genetic operator, namely real coded dynamic multilayer chromosome...
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