Optimization of the Workpiece Location in a Machining Robotic Cell
One important issue in a machining robotic cell is the location of the workpiece with respect to the robot. The feasibility of the task, the quality of the final work and the energy consumption, just to mention a few, are all dependent upon it. This can be formulated as an optimization problem where...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2011-12-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/45681 |
| _version_ | 1828773358896939008 |
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| author | António M. Lopes E.J. Solteiro Pires |
| author_facet | António M. Lopes E.J. Solteiro Pires |
| author_sort | António M. Lopes |
| collection | DOAJ |
| description | One important issue in a machining robotic cell is the location of the workpiece with respect to the robot. The feasibility of the task, the quality of the final work and the energy consumption, just to mention a few, are all dependent upon it. This can be formulated as an optimization problem where the objective functions are chosen in order to meet desired performance criteria. Typically, the complexity of the problems and the large number of optimization parameters that, usually, are involved, make the genetic algorithms an appropriate tool in this context. In this paper, two optimization problems are formulated: firstly, the power consumed by the manipulator is considered and the problem is solved using a single-objective genetic algorithm; then the stiffness of the manipulator is also included and the respective optimization problem is solved using a multi-objective genetic algorithm. Simulation results are presented for a parallel manipulator robotic cell. |
| first_indexed | 2024-12-11T15:02:00Z |
| format | Article |
| id | doaj.art-42b2ae8c2db34456afd850c1a3f79cfd |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T15:02:00Z |
| publishDate | 2011-12-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-42b2ae8c2db34456afd850c1a3f79cfd2022-12-22T01:01:06ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142011-12-01810.5772/4568110.5772_45681Optimization of the Workpiece Location in a Machining Robotic CellAntónio M. Lopes0E.J. Solteiro Pires1 Institute of Mechanical Engineering Póo, Faculty of Engineering, Porto University, Portugal Center of Research and Agro - Environmental Technology and Biology, School of Sciences and Technology, University Trás-os-Montes and Alto Douro, PortugalOne important issue in a machining robotic cell is the location of the workpiece with respect to the robot. The feasibility of the task, the quality of the final work and the energy consumption, just to mention a few, are all dependent upon it. This can be formulated as an optimization problem where the objective functions are chosen in order to meet desired performance criteria. Typically, the complexity of the problems and the large number of optimization parameters that, usually, are involved, make the genetic algorithms an appropriate tool in this context. In this paper, two optimization problems are formulated: firstly, the power consumed by the manipulator is considered and the problem is solved using a single-objective genetic algorithm; then the stiffness of the manipulator is also included and the respective optimization problem is solved using a multi-objective genetic algorithm. Simulation results are presented for a parallel manipulator robotic cell.https://doi.org/10.5772/45681 |
| spellingShingle | António M. Lopes E.J. Solteiro Pires Optimization of the Workpiece Location in a Machining Robotic Cell International Journal of Advanced Robotic Systems |
| title | Optimization of the Workpiece Location in a Machining Robotic Cell |
| title_full | Optimization of the Workpiece Location in a Machining Robotic Cell |
| title_fullStr | Optimization of the Workpiece Location in a Machining Robotic Cell |
| title_full_unstemmed | Optimization of the Workpiece Location in a Machining Robotic Cell |
| title_short | Optimization of the Workpiece Location in a Machining Robotic Cell |
| title_sort | optimization of the workpiece location in a machining robotic cell |
| url | https://doi.org/10.5772/45681 |
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