TY - GEN
T1 - GA\SQP Optimization for Design of A Serial Robotic Arm Used As A Spatial Pointing Mechanism
AU - Wu, Xiaocong
AU - Li, Xiao
AU - Wang, Haowei
AU - Liu, Guanyang
AU - Guan, Chen
AU - Huang, Chao
AU - Yu, Ge
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - When designing a serial robotic arm based spatial pointing mechanism, a challenging problem is to identify all the design variables to satisfy all the requirements of launching, working conditions and adjustment of working state. Traditionally, engineers rely on experiences and use 3D CAD software to design it by trial and error, however, the approach is inefficient and impossible to provide the optimal solution. In this paper, we propose a genetic algorithm and sequential quadratic programming based methodology to solve the problem and develop a software for engineers to complete the dimensional design of a spatial pointing mechanism. Experimental results validate the effectiveness and efficiency of the proposed approach, and engineers use the developed software to design a spatial pointing robot conveniently and accurately.
AB - When designing a serial robotic arm based spatial pointing mechanism, a challenging problem is to identify all the design variables to satisfy all the requirements of launching, working conditions and adjustment of working state. Traditionally, engineers rely on experiences and use 3D CAD software to design it by trial and error, however, the approach is inefficient and impossible to provide the optimal solution. In this paper, we propose a genetic algorithm and sequential quadratic programming based methodology to solve the problem and develop a software for engineers to complete the dimensional design of a spatial pointing mechanism. Experimental results validate the effectiveness and efficiency of the proposed approach, and engineers use the developed software to design a spatial pointing robot conveniently and accurately.
KW - GA
KW - Optimization
KW - Spatial pointing mechanism
KW - SQP
UR - https://www.scopus.com/pages/publications/85085860666
U2 - 10.1109/CIS-RAM47153.2019.9095784
DO - 10.1109/CIS-RAM47153.2019.9095784
M3 - 会议稿件
AN - SCOPUS:85085860666
T3 - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
SP - 153
EP - 158
BT - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
Y2 - 18 November 2019 through 20 November 2019
ER -