Solving Optimal Position and Pose of Robot Task Space

Abstract:

Aimed at seeking a optimal task space where robot’s flexibility is better than other task space in the whole workspace, then analyzed robot flexibility indexes which domestic and foreign scholars had described, analyzed k(J)、w andσ_r comprehensively in task space, proved the rationality of k(J) as the flexibility index and proposed a new method which combining the global performance index η with the minimum flexibility index D_min (D=1/k(J))to evaluate the flexibility in task space, then proved the method effectively by genetic algorithm . It has a practical significance for solving the problem of optimal task space in robot work space.

• Periodical: Applied Mechanics and Materials (Volumes 433-435)
• Pages: 102-106
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.433-435.102
• Online since: October 2013
• Authors: Yong Gui Zhang, Jin Gang Gao, Wen Zhou Liu, Hao Shen
• Keywords: Flexibility Index, Global Performance Index, Robot, Task Space

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