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An Efficient Technique For Finding The Desired Global Optimum Of Robotic Joint Displacement, Paul P. Lin, An-Jen J. Yang
An Efficient Technique For Finding The Desired Global Optimum Of Robotic Joint Displacement, Paul P. Lin, An-Jen J. Yang
Mechanical Engineering Faculty Publications
For an industrial robot on a daily operation basis such as pick and place, it is desired to minimize the robotic joint displacements when moving the robot from one location to another. The objective of the optimization here is to simultaneously minimize a robot end effector's positional error and the robotic joint displacements. By modifying the searching algorithm in the existing complex optimization method, this article presents a technique for finding the desired global optimum solution more efficiently. To compare the optimum searching capability between the proposed and existing searching algorithms, a modified Himmelblau's function is used as an objective …
An Improved Method For Online Calculation And Compensation Of The Static Deflection At A Robot End-Effector, Paul P. Lin, Hsiang-Dih Chiang, Xiu Xun Cui
An Improved Method For Online Calculation And Compensation Of The Static Deflection At A Robot End-Effector, Paul P. Lin, Hsiang-Dih Chiang, Xiu Xun Cui
Mechanical Engineering Faculty Publications
Traditionally, robotic deflection analysis for a low-weight robot has been performed based on an assumption that each link is treated as a cantilever beam, which leads to no angular deflection at a joint. In practice, a robotic intermediate joint is linearly and angulary deflected when a load is applied at the end-effector. It is found in this study that the additional link deflection resulting from the angular deflection of a robotic revolute joint substantially contributes to the end-effector's total deflection. This article presents an improved method via a combination of classical beam theory, energy methods and the concepts of differential …