Zeinoun, Gabriel (2013) Optimization of a Reconfigurable Manipulator with Lockable Cylindrical Joints. Masters thesis, Concordia University.
Preview |
Text (application/pdf)
1MBZeinoun_MASc_2014.pdf - Accepted Version Available under License Spectrum Terms of Access. |
Abstract
This thesis presents a global optimization methodology to find the optimal Denavit-Hartenbeg parameters of a serial reconfigurable robotic manipulator maximizing a cost function over a pre-specified workspace volume and given lower and upper bounds on the design parameters. Several cost functions are investigated such as the manipulability measure, maximum force/torque capability of the manipulator at its end-effector, and maximum velocity capability of the manipulator, therefore improving the general kinetostatic performance of the manipulator. A modified global and posture-independent parameter of singularity (MPIPS) is presented, and a generic global optimization approach is proposed, using combined genetic algorithm (GA) and sequential quadratic programming (SQP). Different case studies are provided for a 3-DOF and a 6-DOF reconfigurable manipulator. Finally, a weighted objective function that balances between the opposing actions of the end effector velocity and force is proposed. The results are illustrated to demonstrate the performance of the generated manipulators, and are validated. Post-optimality analysis has also been conducted to investigate the sensitivity of the index to the variation in optimal parameters.
Divisions: | Concordia University > Gina Cody School of Engineering and Computer Science > Mechanical and Industrial Engineering |
---|---|
Item Type: | Thesis (Masters) |
Authors: | Zeinoun, Gabriel |
Institution: | Concordia University |
Degree Name: | M.A. Sc. |
Program: | Mechanical Engineering |
Date: | 20 September 2013 |
Thesis Supervisor(s): | Sedaghati, Ramin and Aghili, Fardah |
Keywords: | Global optimization, manipulability, isotropy, kinetostatic performance, parameter of singularity. |
ID Code: | 977986 |
Deposited By: | GABRIEL ZEINOUN |
Deposited On: | 19 Jun 2014 20:17 |
Last Modified: | 18 Jan 2018 17:45 |
References:
Zacharias, F. (2012). Knowledge Representations for Planning Manipulation Tasks. Springer-Verlag Berlin Heidelberg.Zargarbashi, S., Khan, W., & Angeles, J. (2012). The Jacobian condition number as a dexterity index in 6R machining robots. Robotics and Computer-Integrated Manufacturing , 28 (6), 694-699.
Zhang, G., Liu, P., & Ding, H. (2012). Dynamic Optimization with a New Performance Index for a 2-DoF Translational Parallel Manipulator. 5th International Conference, ICIRA. 7507, pp. 103-115. Montreal: Springer Berlin Heidelberg.
Wang, L., & Chen, C. (1991). A combined optimization method for solving the inverse kinematics problems of mechanical manipulators. Robotics and Automation, IEEE Transactions on , 7 (4), 489-499.
Watrous, J. (2011). Theory of Quantum Information. Lecture notes, University of Waterloo, Waterloo.
Wenz, M., & Worn, H. (2007). Solving the inverse kinematics problem symbolically by means of knowledge-based and linear algebra-based methods. Emerging Technologies and Factory Automation (pp. 1346-1353). IEEE.
Xu, J., Wang, W., & Sun, Y. (2010). Two optimization algorithms for solving robotics inverse kinematics with redundancy. Journal of Control Theory and Applications , 8 (2), 166-175.
Yahya, S., Moghavvemi, M., & Mohamed, H. (2012). Improvement of Singularity Avoidance for Three Dimensional Planar Manipulators by Increasing their Degrees of Freedom. International Symposium on Computer, Consumer and Control (IS3C). IEEE.
Yoshikawa, T. (1985a). Manipulability of robotic mechanisms. Int. J. Rob. Res. , 4 (2), 3-9.
Yoshikawa, T. (1985b). Dynamic manipulability of robot manipulators. IEEE International Conference on Robotics and Automation., 2, pp. 1033-1038.
Yoshikawa, T. (1990). Translational and rotational manipulability of robotic manipulators. American Control Conference (pp. 228-233). IEEE.
Vasilyev, I., & Lyashin, A. (2010). Analytical solution to inverse kinematic problem for 6-DOF robot-manipulator. Automation and Remote Control , 71 (10), 2195-2199.
Vinogradov, I., Kobrinski, A., & Stepanenko, Y. (1971). Details of kinematics of ma- nipulators with the method of volumes. . Mekhanika Mashin , 5-16.
Abdi, H., & Nahavandi, S. (2012). Well-conditioned configurations of fault-tolerant manipulators. Robotics and autonomous systems , 60 (2), 242-251.
Aghili, F., & Parsa, K. (2009). A reconfigurable robot with lockable cylindrical joints. IEEE Trans. on Robotics , 25 (4), 785--797.
Al-Dois, H., Jha, A., & Mishra, R. (2013). Task-based design optimization of serial robot manipulators. Engineering Optimization , 45 (6), 647-658.
Angeles, J. (2007). Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms (3rd ed.). New York: Springer-Verlag.
Angeles, J., & Lopez-Cajun, C. (1992). Kinematic isotropy and the conditioning index of serial robotic manipulators. The International Journal of Robotics Research , 11 (6), 560-571.
Arora, J. (2004). Introduction to optimum design. Academic Press.
Buss, S. (2004). Introduction to inverse kinematics with jacobian transpose, pseudoinverse and damped least squares methods. IEEE Journal of Robotics and Automation , 17.
Bagchi, S. (2007). Design Optimization And Synthesis Of Manipulators Based On Various Manipulation Indices. Masters thesis, The University of Texas Arlington.
Barissi, S., & Taghirad, H. (2008). Task Based Optimal Geometric Design and Positioning of Serial Robotic Manipulators. Mechatronic and Embedded Systems and Applications, IEEE/ASME International Conference on , (pp. 158-163).
Belegundu, A., & Chandrupatla, T. (2011). Optimization Concepts and Applications in Engineering. Pearson Education Publication .
Bock, R., & Krischer, W. (1998). The data analysis briefbook. Springer Berlin Heidelberg.
Castano, A., Behar, A., & Will, P. (2002). The Conro modules for reconfigurable robots. IEEE/ASME Trans. Mechatron. , 7 (4), 403-409.
Carbone, G., Ottaviano, E., & Ceccarelli, M. (2008). Optimality criteria for the design of manipulators. Robotics, Automation and Mechatronics, 2008 IEEE Conference on, (pp. 768-773).
Chang, P. (1988). A dexterity measure for the kinematic control of robot manipulators with redundancy. Massachussets Institute of Technology, Massachussets Institute of Technology A.I. Laboratory. Boston: Massachussets Institute of Technology.
Chapelle, F., & Bidaud, P. (2004). Closed form solutions for inverse kinematics approximation of general 6R manipulators. ,. Mechanism and machine theory , 39 (3), 323-338.
Craig, J. (2005). Introduction to Robotics (2nd ed.). Pearson Education Publication.
Elkady, A., Mohammed, M., & Sobh, T. (2009). A new algorithm for measuring and optimizing the manipulability index. Journal of Intelligent and Robotic systems , 59 (1), 75-86.
Du, Q., Zhang, X., & Zou, L. (2007). Design Optimization of a Minimally Invasive Surgical Robot. International Conference on Integration Technology (pp. 8265-8270). Shenzhen, China: IEEE.
Farritor, S., Dubowsky, S., Rutman, N., & Cole, J. (1996). A systems level modular design approach to field robotics. Proc. IEEE Int. Conf. Robot. Autom., (pp. 2890-2895).
Forsythe, G., & Moler, C. (1967). Computer solution of linear algebraic systems. New Jersey: Prentice-Hall.
Gupta, K., & Roth, B. (1982). Design consideration for manipulator workspace. ASME J. Mech. Design , 104, 704-712.
Golub, G., & Van Loan, C. (2012). Matrix computations (Vol. 3). John Hopkins University Press.
Gosselin, C. (1990). Dexterity indices for planar and spherical robotic manipulators. Proc. 1990 Int. IEEE Conf. Robotics and Automation, (pp. 650-655).
Gosselin, C., & Angeles, J. (1991). A global performance index for the kinematic optimization of robotic manipulators. J. Mech. Design , 113 (3), 220-226.
Huo, L., & Baron, L. (2007). Inverse kinematics of functionally-redundant serial manipulators under joint limits and singularity avoidance. Conference on systems and control. Morocco.
Huo, L., & Baron, L. (2008). The joint-limits and singularity avoidance in robotic welding. Industrial Robot , 35 (5), 456-464.
Huo, L., & Baron, L. (2011). The self-adaptation of weights for joint-limits and singularity avoidances of functionally redundant robotic-task. Robotics and Computer-Integrated Manufacturing , 27, 367-376.
Hartenberg, R., & Denavit, J. (1964). Kinematic synthesis of linkages. New York: McGraw-Hill.
Hebert, P., Tatossian, C., Cairns, M., Aghili, F., & Parsa, K. (2007). Toward the design and simulation of a new generation of reconfigurable space manipulators using telescoping passive joints. Transactions of the Canadian Society for Mechanical Engineering , 31 (4), 535-545.
Horn, R., & Johnson, C. (1990). Matrix Analysis. Cambridge, England: Cambridge University Press.
Jing, Z., & Yi, J. (2007). Dimensional synthesis based on fault tolerant performance for redundant robots. Proc. 13th Int. Conf. Adv. Robot., (pp. 1023-1028).
Kumar, A., & Waldron, K. (1981). The workspace of a mechanical manipulator. ASME J. Mech. Design , 103, 665-672.
Keesling, J. The condition number for a matrix. University of Florida, Department of Mathematics.
Kim, J., & Khosla, P. (1993). A formulation for task based design of robot manipulators,. Intelligent Robots and Systems, Proceedings of the 1993 IEEE/RSJ International Conference on , 3, pp. 2310-2317.
Khatami, S., & Sassani, F. (2002). Isotropic Design Optimization of Robotic Manipulators Using a Genetic Algorithm Method. Proceedings of IEEE, Intl. Symposium on Intelligent Control (pp. 562 - 567). IEEE.
Klein, C., & Blaho, B. (1987). Dexterity measures for the design and control of kinematically redundant manipulators. The International Journal of Robotics Research , 6 (2), 72-83.
Klein, C., & Miklos, T. (1991). Spatial robotic isotropy. The International journal of robotics research , 10 (4), 426-437.
Konietschke, R., Ortmaier, T., Weiss, H., Engelke, R., & Hirzinger, G. (2003). Optimal Design of a Medical Robot for Minimally Invasive Surgery. Jahrestagung der Deutschen Gesellschaft fuer Computer-und Roboterassistierte Chirurgie (CURAC) .
Krefft, M., & Hesselbach, J. (2006). The dynamic optimization of PKM. Advances in Robot Kinematics , 339-348.
Lee, J. (1997). A Study on the Manipulability Measures for Robot Manipulators . International Conference on Intelligent Robots and Systems (pp. 1458 - 1465). Grenoble: IEEE.
Leger, C. (1999). Automated Synthesis and Optimization of Robot Configurations: An Evolutionary Approach. Carnegie Mellon Univ.
Liegeois, A. (1977). Automatic supervisory control for the configuration and behavior of multibody mechanisms. IEEE Systems, Man, and Cybernetics Society , 7 (12), 868-871.
Mavroidis, C., Ouezdou, F., & Bidaud, P. (1994). Inverse kinematics of six-degree of freedom" general" and" special" manipulators using symbolic computation. Robotica , 12 (5), 421-430.
Manocha,, D., & Canny, J. (1994). Efficient inverse kinematics for general 6R manipulators. Robotics and Automation, IEEE Transactions , 10 (5), 648-657.
Merlet, J. (2006a). Jacobian, manipulability, condition number, and accuracy of parallel robots. Journal of Mechanical Design , 128 (1), 199-206.
Merlet, J. (2006b). Parallel Robots (2nd ed.). New York: Springer-Verlag.
Oetomo, D., Daney, D., & Merlet, J. (2009). Design Strategy of Serial Manipulators With Certified Constraint Satisfaction. Robotics, IEEE Transactions on , 25 (1), 1-11.
Paul, R., & Stevenson, C. (1983). Kinematics of robot wrists. The Int. J. Robotics Res. , 2 (1), 31-38.
Paredis, C., & Khosla, P. (1995). Design of modular fault tolerant manipulators. Proc. 1st Workshop Algorithmic Found. Robot., (pp. 371-383).
Paredis, C., & Khosla, P. (1993). Kinematic design of serial link manipulators from task specifications. The International Journal of Robotics Research , 12 (3), 274-287.
Park, F., & Kim, J. (1998). Manipulability of closed kinematic chains. Journal of Mechanical Design , 120, 542-548.
Pieper, D. (1968). The kinematics of manipulators under computer control. PhD thesis, Stanford University.
Pham, H., & Chen, I.-M. (2003). Optimal synthesis for workspace and manipulability of parallel flexure mechanism. 11th World Congress in Mechanism and Machine Science. Tianjin, China.
Salisbury, J., & Craig, J. (1982). Articulated Hands: Force Control and Kinematic Issues. The International Journal of Robotics Research , 1 (1), 4-17.
Shibata, T., & Ohkami, Y. (2002). Development of brachiating control system for reconfigurable brachiating space robot. Proc. 3rd Int. Workshop Robot Motion Control, (pp. 255-259). Poznan, Poland.
Shiller, Z., & Sundar, S. (1991). Design of Robotic Manipulators for Optimal Dynamic Performance. EEE Conf. of Robotics and Automation, (pp. 344-349). Sacramento CA.
Snyman, J., & Van Tonder, F. (1999). Optimum design of a three-dimensional serial robot manipulator. Structural Optimization , 17, 172-185.
Sobh, T., & Toundykov, D. (2004). Optimizing the tasks at hand [robotic manipulators]. Robotics & Automation Magazine, IEEE , 11 (2), 78-85.
Stewart, D. (1965). A platform with six degrees of freedom . Proceedings of the institution of mechanical engineers, 180, pp. 371-386.
Raghavan, M., & Roth, B. (1993). Inverse kinematics of the general 6R manipulator and related linkages. Journal of Mechanical Design , 115 (3), 502-508.
Tanev, T., & Stoyanov, B. (2000). On the performance indexes for robot manipulators. Problems of engineering cybernetics and robotics , 49, 64-71.
Tourassis, V., & Ang Jr, M. (1995). Task decoupling in robot manipulators. Journal of Intelligent and Robotic Systems , 14 (3), 283-302.
Repository Staff Only: item control page