Engineering based robot optimization methodology
| dc.contributor.author | Švejda, Martin | |
| dc.contributor.author | Jáger, Arnold | |
| dc.date.accessioned | 2020-04-20T10:00:10Z | |
| dc.date.available | 2020-04-20T10:00:10Z | |
| dc.date.issued | 2019 | |
| dc.description.abstract | The paper deals with the engineering based methodology for optimal design of non-standard robotic architectures. Two layer algorithm is presented for the optimization of robot kinematic parameters. The first layer includes mathematical optimization of the simplified dynamic model of the robot resulting in a priori estimation of the kinematic parameters. A general objective function for robot joint force/torque minimization is taken into account. The second layer provides an iterative approach which makes possible to adjust the kinematic parameters according to unmodeled engineering requirements. The proposed optimization approach is illustrated on the example of 5 a DoF robot for industrial degreasing machine. | en |
| dc.format | 6 s. | cs |
| dc.format.mimetype | application/pdf | |
| dc.identifier.citation | ŠVEJDA, M., JÁGER, A. Engineering based robot optimization methodology. In: IFAC-PapersOnLine. Amsterdam: Elsevier, 2019. s. 305-310. ISSN: 2405-8963. | en |
| dc.identifier.document-number | 507495200052 | |
| dc.identifier.doi | 10.1016/j.ifacol.2019.12.678 | |
| dc.identifier.issn | 2405-8963 | |
| dc.identifier.obd | 43927262 | |
| dc.identifier.uri | 2-s2.0-85081565762 | |
| dc.identifier.uri | http://hdl.handle.net/11025/36875 | |
| dc.language.iso | en | en |
| dc.project.ID | SGS-2019-020/Rozvoj a využití kybernetických systémů identifikace, diagnostiky a řízení 4 | cs |
| dc.project.ID | EF17_048/0007267/InteCom: VaV inteligentních komponent pokročilých technologií pro plzeňskou metropolitní oblast | cs |
| dc.project.ID | TE02000103/Centrum inteligentních pohonů a pokročilého řízení strojů (CIDAM) | cs |
| dc.publisher | Elsevier | en |
| dc.relation.ispartofseries | IFAC-PapersOnLine | en |
| dc.rights | © Elsevier | en |
| dc.rights.access | openAccess | en |
| dc.subject.translated | parametric optimization | en |
| dc.subject.translated | robot | en |
| dc.subject.translated | non-standard application | en |
| dc.title | Engineering based robot optimization methodology | en |
| dc.type | konferenční příspěvek | cs |
| dc.type | conferenceObject | en |
| dc.type.status | Peer-reviewed | en |
| dc.type.version | publishedVersion | en |