Publication
A fast and robust kinematic model for a 12 DoF hyper-redundant robot positioning: an optimization proposal
| dc.contributor.author | Lima, José | |
| dc.contributor.author | Pereira, Ana I. | |
| dc.contributor.author | Costa, Paulo Gomes da | |
| dc.contributor.author | Pinto, Andry | |
| dc.contributor.author | Costa, Pedro | |
| dc.date.accessioned | 2018-03-12T14:18:22Z | |
| dc.date.available | 2018-03-12T14:18:22Z | |
| dc.date.issued | 2017 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.sponsorship | This work is financed by the ERDF - European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme, and by National Funds through the FCT - Fundação para a Ciência e Tecnologia (Portuguese Foundation for Science and Technology) within project ”POCI-01- 0145-FEDER-006961”. Project ”TEC4Growth - Pervasive Intelligence, Enhancers and Proofs of Concept with Industrial Impact/NORTE- 01-0145-FEDER-000020” is financed by the North Portugal Regional Operational Programme (NORTE 2020), under the PORTUGAL 2020 Partnership Agreement, and through the European Regional Development Fund (ERDF). This work has been supported by COMPETE: POCI-01-0145-FEDER-007043 and FCT - Fundação para a Ciência e Tecnologia within the Project Scope: UID/CEC/00319/2013. | |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.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 | pt_PT |
| dc.identifier.doi | 10.1063/1.4992429 | pt_PT |
| dc.identifier.issn | 0094-243X | |
| dc.identifier.uri | http://hdl.handle.net/10198/16264 | |
| dc.language.iso | eng | pt_PT |
| dc.peerreviewed | yes | pt_PT |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | pt_PT |
| dc.subject | Simulated annealing | pt_PT |
| dc.subject | Optimization | pt_PT |
| dc.title | A fast and robust kinematic model for a 12 DoF hyper-redundant robot positioning: an optimization proposal | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/5876/UID%2FCEC%2F00319%2F2013/PT | |
| oaire.citation.conferencePlace | Rhodes | pt_PT |
| oaire.citation.title | International Conference of Numerical Analysis and Applied Mathematics | pt_PT |
| oaire.citation.volume | 1863 | pt_PT |
| oaire.fundingStream | 5876 | |
| person.familyName | Lima | |
| person.familyName | Pereira | |
| person.givenName | José | |
| person.givenName | Ana I. | |
| person.identifier | R-000-8GD | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.ciencia-id | 0716-B7C2-93E4 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.orcid | 0000-0003-3803-2043 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.rid | F-3168-2010 | |
| person.identifier.scopus-author-id | 55851941311 | |
| person.identifier.scopus-author-id | 15071961600 | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
| rcaap.rights | restrictedAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
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