Design Optimization of Tree-type Robotic Systems Using Exponential Coordinates and Genetic Algorithms
Design Optimization of Tree-type Robotic Systems Using Exponential Coordinates and Genetic Algorithms
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DOI：
10.1109/iccar49639.2020.9108071
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发表时间：
2020-04
期刊：
影响因子：
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通讯作者：
J. Amar;K. Nagase
中科院分区：
文献类型：
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作者：
J. Amar;K. Nagase
本文提出了一种新的方法来优化机器人系统使用指数坐标和遗传算法相结合。指数坐标是描述机器人系统运动学和动力学的直观参数化，它只依赖于称为指数参数的几个参数。设计中考虑了由一组串联链组成的树型机器人系统。除了物理和指数参数，我们还优化关节连接（树结构），采用链矩阵。这些参数可以有效地编码到遗传算法的字符串。使用这些弦，我们可以同时进行设计优化，包括联合配置（系统几何）和联合分布（系统拓扑）。一个2D臂-手机械手系统的设计实例说明了所提出的方法。
This paper proposes a new way to optimize the robotic systems using a combination of exponential coordinates and genetic algorithms. The exponential coordinates are an intuitive parametrization to describe the kinematics and dynamics of robotic systems, which only relies on a few parameters called the exponential parameters. The tree-type robotic systems composed of a set of serial link chains are considered in the design. In addition to the physical and the exponential parameters, we also optimize the joints connection (tree structure) by employing the chain matrix. These parameters can be efficiently coded into the strings of the genetic algorithm. Using the strings, we can conduct a simultaneous design optimization including the joint configuration (system geometry) and the joint distribution (system topology). A design example of a 2D arm-hand manipulator system illustrates the proposed method.