Hostname: page-component-7dd5485656-zklqj Total loading time: 0 Render date: 2025-10-31T17:48:13.148Z Has data issue: false hasContentIssue false
  • English
  • Français

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)
Get access Rights & Permissions [Opens in a new window]

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

Information

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

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Nelson, B., Pedersen, K. and Donath, M., Locating assembly tasks in a manipulator's workspace IEEE Proc. of the Int. Conf. on Robotics and Automation(1987) pp. 1367-1372.Google Scholar
Chiu, S.L., Task compatibility of manipulators postures Int. J. Robotics Research 7, 5, 13–21 (1988).CrossRefGoogle Scholar
Fardanesh, B. and Rastegar, J., Minimum cycle time location of a task in the workspace of a robot arm IEEE Proc. of the 21th Conf. on Decision and Control(1988) pp. 2280-2283.Google Scholar
Pámanes-Garcia, J.A., A criterion for optimal placement of robotic manipulators IFAC Proc. of the 6th Symp. on Information Control Problems in Manufacturing Technology(1989) pp. 183-187.Google Scholar
Chedmail, P., Synthèse de Robots et de Sites Robotisés. Modélisation de Robots Souples Thèse de Doctoral d'Etat (Université de Nantes, Ecole Nationale Supérieure de Mécanique, France, 1990).Google Scholar
Pámanes-Garcia, J.A. and Zeghloul, S., Optimal placement of robotic manipulators using multiple kinematic criteria Proc. of the 1991 IEEE Int. Conf. on Robotics and Automation Vol 1(1991) pp. 933-938.Google Scholar
Klein, C.A. and Blaho, B.E., Dexterity measures for the design and control of kinematically redundant manipulators Int. J. Robotics Research 6, 2, 72–83 (1987).CrossRefGoogle Scholar
Salisbury, J.K. and Craig, J.J., Articulated hands: force control and kinematic issues Int. J. Robotics Research 1, 1, 4–17 (1982).CrossRefGoogle Scholar
Yoshikawa, J., Manipulability of robotic mechanisms Int. J. Robotic Research 4, No. 2, 3–9 (1985).CrossRefGoogle Scholar
Liegois, A., Automatic supervisory control of the configuration and behavior of multibody mechanisms IEEE Trans. Sys., Man., Cyber. SMC-7, No. 12, 868–871 (1977).Google Scholar
Zeghloul, S., Developpement d'un Système de C.A.O. Robotique Integrant la Planification de Tâches et la Synthese de Sites Robotise Thèse de Doctoral d'Etat (Université de Poitiers, France 1991)Google Scholar
Zeghloul, S., Murguet, D. and Lallemand, J.P., Outils de simulation et de programmation hors-ligne d'environnement multi-robots Proc. of the 7th IFTOMM Congress on Theory of Machines and Mechanisms Seville,Spain(1987) pp. 1089-1092.Google Scholar
Box, M.J., A new method of constrained optimization and a comparison with other methods, Computer J. 8, 42–52 (1965).Google Scholar