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On the maximum dynamic stress search problem for robot manipulators

Published online by Cambridge University Press:  19 August 2004

A. Khoukhi  and
A. Ghoul
A. Khoukhi
Affiliation:
3865 # 5 rue Beaubien E, Montreal, PQ (Canada) H1X 1H3.
A. Ghoul
Affiliation:
USTHB, Department of Electrical Engineering, Bab – Ezzouar Algiers (Algeria).
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Abstract

This paper deals with the problem of the dynamic stress optimisation for manipulator robots. The maximum dynamic stress search is a challenging problem, insofar the dynamic stresses change in a very complex manner and they are strongly influenced by the payload, internal parameters of the robot, and instantaneous values of the articular variables (positions, velocities, and accelerations). This problem is solved using a hybrid simplex-genetic algorithm. This algorithm allows solving the dilemma of exploration vs. exploitation in the search space. A simulation study shows the greater performance of the proposed approach as compared to a classical approach of the configuration space inverse sweeping.

Keywords

Dynamic stressSweepingGenetic programmingSimplex programmingHybrid programmingRobot manipulator
Type
Research Article
Information
Robotica , Volume 22 , Issue 5 , October 2004 , pp. 513 - 522
Copyright
© 2004 Cambridge University Press

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