Optimization of the operation of the anthropomorphic manipulator in a three-dimensional working space. Issue 11 (2nd November 2019)

• Record Type: Journal Article
• Authors: Skrobek, Dorian; Cekus, Dawid
• Is Part Of: Engineering optimization. Volume 51:Issue 11(2019)
• Page Start: 1997
• Page End: 2010
• Publication Date: 2019-11-02
• Subjects: Anthropomorphic manipulator -- duty cycle -- energy consumption -- trajectory -- optimization -- multi-criteria optimization -- particle swarm optimization; Engineering design -- Periodicals; Mathematical optimization -- Periodicals; 620.0042
• DOI: 10.1080/0305215X.2018.1564919
• Languages: English
• ISSNs: 0305-215X

Abstract

ABSTRACT: This article presents the use of the particle swarm method to optimize the working cycle of an anthropomorphic manipulator. The working space contained stationary obstacles which made the working cycle difficult. Three objective functions were adopted in the study, concerning trajectory minimization, reduction of electricity consumption and multi-criteria optimization (minimization of both trajectory length and electricity consumption). The effects of selected parameters on the particle swarm optimization (PSO) algorithm and the results of the examinations were analysed.