Determining task optimal modular robot assembly configurations
- Creators
- Chen, I-Ming
- Burdick, Joel W.
Abstract
A "modular" robotic system consists of standardized joint and link units that can be assembled into a number of different kinematic configurations. Given a predetermined set of modules, this paper considers the problem of finding an "optimal" module assembly configuration for a specific task. The authors formulate the solution as a discrete optimization procedure. The formulation is based on an assembly incidence matrix representation of a modular robot and a general task-oriented objective function that can incorporate many realistic task criteria. Genetic algorithms (GA) are employed to solve this optimization problem, and a canonical method to represent a modular assembly in terms of genetic strings is introduced. An example involving a 3-DOF manipulator configuration is presented to demonstrate the feasibility of this approach.
Additional Information
© 1995 IEEE.Attached Files
Published - 00525275.pdf
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Additional details
- Eprint ID
- 96341
- Resolver ID
- CaltechAUTHORS:20190612-143322115
- Created
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2019-06-13Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field