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Multi-criteria optimal placement of robots in constrained environments

Published online by Cambridge University Press:  09 March 2009

S. Zeghloul  and
J.A. Pamanes-Garcia
S. Zeghloul
Affiliation:
Laboratoire de Mécanique des Solides U.R.A. C.N.R.S. 861, Université de Poitiers, 40avenue du Recteur Pineau, 86022 POITIERS CEDEX (France)
J.A. Pamanes-Garcia
Affiliation:
Laboratoire de Mécanique des Solides U.R.A. C.N.R.S. 861, Université de Poitiers, 40avenue du Recteur Pineau, 86022 POITIERS CEDEX (France)
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Summary

A general method is presented to automatically determine the placement of manipulators which allows one to optimize multiple kinematic performances indices during the execution of their tasks. It considers the presence of obstacles in the workstation and constraints on the motion of the manipulator's joints. The complete formulation is included, and an example with a six-degree-of-freedom manipulator in a cluttered environment es solved that demonstrates the improvements achieved for the manipulator performances by applying the method.

Keywords

Constrained environmentsKinematic perforanceRobot motionOptimal placement
Type
Research Article
Information
Robotica , Volume 11 , Issue 2 , March 1993 , pp. 105 - 110
Copyright
Copyright © Cambridge University Press 1993

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