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Advisor(s)
Abstract(s)
This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics
problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex
designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the
joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing
algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a
simulated robot formed by 12 servomotors with a gripper.
Description
Keywords
Simulated annealing Optimization
Citation
Lima, José; Pereira, Ana I.; Costa, Paulo; Pinto, Andry; Costa, Pedro (2017). A fast and robust kinematic model for a 12 DoF hyper-redundant robot positioning: an optimization proposal. In International Conference of Numerical Analysis and Applied Mathematics, ICNAAM. Rhodes: AMER INST PHYSICS. ISSN 0094-243X