FIGURE 6 - available via license: Creative Commons Attribution 4.0 International
Content may be subject to copyright.
Source publication
Robot design is a major component in robotics, as it allows building robots capable of performing properly in given tasks. However, designing a robot with multiple types of parameters and constraints and defining an optimization function analytically for the robot design problem may be intractable or even impossible. Therefore black-box optimizatio...
Context in source publication
Similar publications
![Fig. 1. Mobile robot reference frame [1]](profile/Haruka-Kido/publication/366442012/figure/fig1/AS:11431281108640986@1671554409611/Mobile-robot-reference-frame-1_Q320.jpg)
This paper demonstrates the implementation of an autonomous gyroscopic 2-wheel differential robot, including a forward and inverse kinematics simulation in MatLAB, a test hardware robot and programmed demonstration of a simple move forward and spin left motion, and a final configuration of a complete square path based on programming kinematics, gyr...
Citations
... Each link of the robot can be characterized by four kinematic parameters, with two describing the link itself and the other two representing the connection relationship between the links. The method in which these kinematic parameters express the kinematic relationship of the robot mechanism is commonly referred to as the Denavit-Hartenberg (DH) method [20], and the Denavit-Hartenberg parameters [21] are shown in Figure 1. For a six-degree-of-freedom manipulator, the transformation formula for the connecting rod, represented from the base to the end effector, can be obtained by articulating the parameter configuration in the form of a homogeneous transformation matrix, q = [q 1 , q 2 , . . . ...
This study investigated the trajectory-planning problem of a six-axis robotic arm based on deep reinforcement learning. Taking into account several characteristics of robot motion, a multi-objective optimization approach is proposed, which was based on the motivations of deep reinforcement learning and optimal planning. The optimal trajectory was considered with respect to multiple objectives, aiming to minimize factors such as accuracy, energy consumption, and smoothness. The multiple objectives were integrated into the reinforcement learning environment to achieve the desired trajectory. Based on forward and inverse kinematics, the joint angles and Cartesian coordinates were used as the input parameters, while the joint angle estimation served as the output. To enable the environment to rapidly find more-efficient solutions, the decaying episode mechanism was employed throughout the training process. The distribution of the trajectory points was improved in terms of uniformity and smoothness, which greatly contributed to the optimization of the robotic arm's trajectory. The proposed method demonstrated its effectiveness in comparison with the RRT algorithm, as evidenced by the simulations and physical experiments.
... In this approach, a close form of the objective function is not required [19]. For instance, Cursi et al. [20] developed an open source global optimization framework for robot design. Considering that the robot design is regarded as an optimization problem with a black-box cost function; therefore, their developed framework implements a Bayesian optimization method to approximate an appropriate formulation of the objective function. ...
The bat algorithm (BA) is a nature inspired algorithm which is mimicking the bio-sensing characteristics of bats, known as echolocation. This paper suggests a Bat-based meta-heuristic for the inverse kinematics problem of a robotic arm. An intrinsically modified BA is proposed to find an inverse kinematics (IK) solution, respecting a minimum variation of the joints’ elongation from the initial configuration of the robot manipulator to the proposed new pause position. The proposed method is called IK-BA, it stands for a specific bat algorithm dedicated to robotic-arms’ inverse geometric solution, and where the elongation control mechanism is embedded in bat agents update equations. Performances analysis and comparatives to related state of art meta-heuristics solvers showed the effectiveness of the proposed IK bat solver for single point IK planning as well as for geometric path planning, which may have several industrial applications. IK-BA was also applied to a real robotic arm with a spherical wrist as a proof of concept and pertinence of the proposed approach.
... The key characteristics of a modern performance index are its independence from the unit of measurement [19][20][21][22][23][24] and also its independence from the reference system [25,26]. Recentely, two interesting optimization frameworks have been developed for the workspace analysis and visualization so to improve the design of industrial robots [27,28]. Nevertheless, most of the kinematic indexes found in the literature provide information about the behavior of the robot at a specific point in the workspace, not considering the direction of motion. ...
This paper presents a comparison between two different 6R articulated robot architectures, one with a spherical wrist and the other with a non-spherical wrist and three consecutive parallel axes, which are found mainly in collaborative arms. The performance of the two architectures has been evaluated in terms of linear and rotational velocity using the Kinematic Directional Index (KDI). The results highlight the relation between the robot’s velocity along a direction and the joint velocities. In this way, the proposed approach allows the evaluation of the best performance in a direction and the joints that limit the considered motion.
In this article, a new 7-DoF humanoid arm that can operate a steering wheel anthropomorphically, and a task-based design method for such redundant manipulators that work with loads in constrained spaces are devised. The latter consists of a controller-integrated optimization method (COM) for structural parameter optimization, and a combinatorial filtration method (CFM) for actuator selection. The COM is based on kinetostatic analysis and implemented through the covariance matrix adaptation evolutionary strategy (CMA-CS). In the optimization, a collision-free control (CFC) method is integrated for the accurate workspace evaluation and the manipulability index for characterizing the kinematic performance. The CFM is based on the results of the COM and a dynamic analysis. In actuator selection, a library of available candidate motors and reducers is constructed for global selection based on the design objectives and the characteristics for more accurate joint parameters. The effectiveness of CFC in structural parameter optimization is verified in the CFM. Thus, a 7-DoF humanoid arm for driving is achieved; its performance is evaluated in real-world experiments to assess the validity of the design.
Supernumerary robotic limbs(SRLs) as a new type of wearable robot that assists the operator with additional robotic limbs. However, how to determine the optimal limb length parameters according to the task requirements and constraints is a key problem in the design of SRLs. In this paper, a design framework for SRLs was proposed based on the kinematic performance and human-robot factor indices. It can select the optimal parameters of SRLs including the base position, configuration and length via a multi-object optimization model. First, the task specification and the SRLs specification are obtained by analyzing the given task and the motion configuration. Then the kinematic synthesis of SRLs with the universal configuration is established via the screw theory, and a comprehensive evaluation index for the motion performance is proposed by considering the manipulability and the human-robot factor. Taking the evaluation indices as the objective function, the corresponding constraints and the optimization model are established to optimize the configuration of SRLs with both flexibility and safety. Then the prototype of SRLs was designed according to the optimal result, and the performance indices of the optimized SRLs were improved by 1.637% and 13.602%, respectively. Finally, a human–machine collaboration experiment was conducted to verify that the optimized SRLs have improved collaboration efficiency and safety.
