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Multi-objective genetic algorithms applied for optimal design of 2 DOF micro parallel robots

Multi-objective genetic algorithms applied for optimal desig...

引用

IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

作者： Sergiu-Dan Stan Vistrian Maties Radu Balan Department of Mechanics and Programming Technical University of Cluj Napoca Cluj-Napoca Romania Department of Mechatronics Technical University of Cluj Napoca Cluj-Napoca Romania

This paper is aimed at presenting a study on the optimization of the Biglide and Bipod mini parallel robots, which comprises two-degree-of-freedom (DOF) mini parallel robots with constant and variable struts. The robot workspace is characterized and the inverse kinematics equation is obtained. In the paper, design optimization is implemented with genetic algorithms (GA) for optimization considering transmission quality index, design space and workspace. Here, intended to show the advantages of using the GA, we applied it to a multicriteria optimization problem of 2 DOF mini parallel robots. Genetic algorithms (GA) are so far generally the best and most robust kind of evolutionary algorithms. A GA has a number of advantages. It can quickly scan a vast solution set. Bad proposals do not affect the end solution negatively as they are simply discarded. The obtained results have shown that the use of GA in such kind of optimization problem enhances the quality of the optimization outcome, providing a better and more realistic support for the decision maker.

关键词： Genetic algorithms Algorithm design and analysis Parallel robots Design optimization Orbital robotics Kinematics Equations Robustness Evolutionary computation Proposals

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Nonlinear Control Using On Line Simulation and Rule Based Control

Nonlinear Control Using On Line Simulation and Rule Based Co...

引用

IEEE International Conference on Mechatronics and Automation

作者： Radu Balan Vistrian Maties Sergiu Stan Department of Mechatronics Technical University of Cluj Napoca Cluj-Napoca Romania Department of Mechanics and Programming Technical University of Cluj Napoca Cluj-Napoca Romania

Model based predictive control (MBPC) is a class of computer algorithms that explicitly use a process model to predict future plant outputs and compute an appropriate control action through on-line optimization of a cost objective function over a future horizon, subject to various constraints. This paper presents an MBPC type algorithm applied to nonlinear processes. The basic idea of the algorithm is the on-line simulation of the future behavior of the control system, by using a few candidate control sequences. Then, using rule based control, these simulations are used to obtain the 'optimal' control signal. The efficiency and applicability of the proposed algorithm are demonstrated through applications

关键词： Predictive models Optimal control Robust stability Force control Predictive control Cost function Control systems Mechatronics Computational modeling Control system synthesis

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Optimization of Workspace of a 2 DOF parallel robot

Optimization of Workspace of a 2 DOF parallel robot

引用

IEEE International Conference on Mechatronics and Automation

作者： Stan Sergiu Vistrian Maties Radu Balan Department of Mechanics and Programming Technical University of Cluj-Napoca Cluj-Napoca Romania Department of Mechatronics Technical University of Cluj-Napoca Cluj-Napoca Romania

In this paper a mono-objective optimum design procedure for parallel robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using genetic algorithms

关键词： Parallel robots Kinematics Manipulators Mechatronics Design optimization Sampling methods Design automation Robotics and automation Automatic programming Parallel programming

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Workspace analysis of the Biglide mini parallel robot with 2 DOF

Workspace analysis of the Biglide mini parallel robot with 2...

引用

IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

The knowledge of the workspace of a 2 DOF mini parallel robot is very important in planning a dextrous manipulation task. In this paper, we propose an approach to compute and visualize the workspace of a 2 DOF mini parallel robot. Planar parallel robots are good candidates for microminiaturization into a microdevice. The workspace is one of the most important kinematic properties of robots, even by practical viewpoint because of its impact on robot design. A program was created in MATLAB for workspace analysis of 2 DOF parallel robots. Singular configurations are also obtained.

关键词： Parallel robots Robot kinematics Mechatronics Sampling methods Concurrent computing Visualization MATLAB Manipulators Genetic algorithms Robot programming

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A Solution of the Inverse Pendulum on a Cart Problem Using Predictive Control

A Solution of the Inverse Pendulum on a Cart Problem Using P...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： R. Balan V. Maties S. Stan Department of Mechatronics Technical University of Cluj Napoca Cluj-Napoca Romania Department of Mechanics and Programming Technical University of Cluj Napoca Cluj-Napoca Romania

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Numerical Study of Solutions of the Hammerstein Equation in the Class of Polynomials

Numerical Study of Solutions of the Hammerstein Equation in ...

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International Seminar/Workshop on Direct and Inverse Problems of Electromagnetic and Acoustic Wave Theory (DIPED)

作者： Yuriy Topolyuk Department of Numerical Methods of Mathematical Physics Pidstryhach Institute for Applied Problems of Mechanics and Mathematics NASU Department of Programming Ivan Franko National University Lviv Ukraine

The numerical results of the polynomial solution of the optimization problem with a free phase are presented. The case of a complex polynomial of the first degree is considered. This polynomial shows good approximatio...

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Analytical Solution of Linear Antenna Synthesis Problems According to Given Amplitude Directivity Pattern at the Least Squares Deviation for the Phase of Solution

Analytical Solution of Linear Antenna Synthesis Problems Acc...

引用

International Seminar/Workshop on Direct and Inverse Problems of Electromagnetic and Acoustic Wave Theory (DIPED)

ISBN: (数字)9798331506087

ISBN: (纸本)9798331506094

An advanced method of constructing an analytical-numerical solution of the nonlinear antenna synthesis problem based on a given amplitude directivity pattern is considered. Using the method of least squares, the case of obtaining an approximate analytical solution of the problem of non-convex minimization of functional for the case of isometric operator of direct problem is presented. Numerical results are given that confirm the effectiveness of the proposed approach.

关键词： Inverse problems Antenna theory Integral equations Electromagnetic scattering Linear approximation Minimization Electromagnetics Optimization Equations Acoustic waves

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Study of the surface traffic inside the Cluj-Napoca urban agglomeration

Study of the surface traffic inside the Cluj-Napoca urban ag...

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7th European Conference on Noise Control 2008, EURONOISE 2008

作者： Solea, G. Arghir, M. Borza, D. Runcan, M. Technical University of Cluj-Napoca Faculty of Machines Design Department of Mechanics and Computer Programming B-dul MunciiNr. 103-105 400 641 Cluj-Napoca Romania National Institute of Applied Sciences of Rouen INSA Rouen LMR Ave l'Universite 76800 Rouen France

The environment protection is one of the most actual problems, because of the fact that the pollution became a major danger for the planet life. The environment pollution is caused because some pollution agents are in a too big quantity and for la long time that they become dangerous for the human health, for the flora, for the fauna and for the constructions too. The pollution sources can be classified in natural and artificial sources. The quality of the environment from a specific area at a certain time can be appreciated by: a) the air quality;b) the water quality;c) the soil quality;d) the health level of the population;e) the deficit of animals and plants species that are accounted for. In the paper there are given the urban traffic on the principal routs inside the Cluj-Napoca municipality. The traffic is the constituent part of the research activity of the national project having the destination the monitoring of the noise and vibrations into an urban agglomeration, applied to the Cluj-Napoca town. This study is the first step for the "noise map" asked for the Romania integration in the European Union for the team researchers of TUCN under the direction of the prof. dr. ing. Mariana ARGHIR.

关键词： Water quality

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Performance Evaluation of a Two Degree of Freedom Micro Parallel Robot

Performance Evaluation of a Two Degree of Freedom Micro Para...

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2007 IEEE International Conference on Automation and Lofistics

作者： Sergiu-Dan Stan Vistrian M(a)ties Radu B(a)lan Department of Mechanics and Programming Technical University of Cluj-Napoca Cluj-Napoca 400020 Rom Department of Mechatronics Technical University of Cluj-Napoca Cluj-Napoca 400020 Romania

ISBN: (纸本)9781424415304;1424415306

In this paper a workspace and stiffness analysis for a two-degree of freedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. The variation tendency of stiffness within the workspace is presented and the impact of variation of design parameters on the stiffness characteristics is given, that is helpful for the architecture design of a 2-dof parallel robot considering stiffness performance. We proposed a numerical procedure for determining and evaluating the workspace of the Bipod robot architecture. The analysis and algorithm can be used as a design tool to select dimensions, actuators and joints in order to maximize the workspace and improve stiffness within the workspace. This paper provides a basis for the architectural design of the 2-dof parallel robot with stiffness properties taken into account, which is necessary from the design point of view.

关键词： workspace stiffness 2 DOF micro parallel robot

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New Formulations in the Applied mechanics to Robotics

New Formulations in the Applied Mechanics to Robotics

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IEEE International Conference on Automation, Quality and Testing, Robotics, AQTR

作者： I. Negrean I. Vuscan Department of Mechanics and Computer Programming Technical University of Cluj Napoca Cluj-Napoca Romania Department of Manufacturing Engineering Technical University of Cluj Napoca Cluj-Napoca Romania

The algorithm of the dynamic control functions achieves a complex modeling regarding the behavior of any mechanical robot structure. First of all, considering the kinetic links dominated of stiffness hypothesis, on the basis of the new formulations with matrix exponentials, in this paper, the differentials expressions answerable to the forward kinematics of mechanical robot structures were presented. On the basis of these equations, in the following, the generalized dynamics forces were also analyzed for the robots with rigid and elastic structure

关键词： Robots

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