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Comparative study of SQP and metaheuristics for robotic manipulator design. (English) Zbl 1142.70002

Summary: The main goal is the design of manipulators with three-revolute joints (3R) using an optimization problem that takes into account the characteristics of the workspace. The optimization problem is formulated considering the workspace volume as objective function. Constraints are added to guarantee the regularity of the envelope and force the workspace to occupy a pre-established area. A comparison among different optimization techniques is developed. The techniques employed are sequential quadratic programming (SQP), genetic algorithms, differential evolution and particle swarm optimization. Numerical examples are presented to validate the proposal methodology.

MSC:

70B15 Kinematics of mechanisms and robots
70-08 Computational methods for problems pertaining to mechanics of particles and systems

Software:

GAToolBox; DOT
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Full Text: DOI

References:

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