Abstract
This paper describes a robot with 12 degrees of freedom for pick-and-place operations using bricks. In addition, an optimization approach is proposed, which determines the state of each joint (that establishes the pose for the robot) based on the target position while minimizing the effort of the servomotors avoiding the inverse kinematics problem, which is a hard task for a 12 DOF robot manipulator. Therefore, it is a multi-objective optimization problem that will be solved using two optimization methods: the Stretched Simulated Annealing method and the NSGA II method. The experiments conducted in a simulation environment prove that the proposed approach is able to determine a solution for the inverse kinematics problem. A real robot formed by several servomotors and a gripper is also presented in this research for validating the solutions.
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Acknowledgments
This work was been supported by FCT (Fundação para a Ciência e Tecnologia) in the scope of the project UID/CEC/00319/2013. This work is financed by the ERDF European Regional Development Fund through the COMPETE Programme (operational programme for competitiveness) and by National Funds through the FCT Fundação para a Ciência e Tecnologia (Portuguese Foundation for Science and Technology) within project “FCOMP-01-0124-FEDER-037281”.
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Costa, P., Lima, J., Pereira, A.I., Costa, P., Pinto, A. (2016). An Optimization Approach for the Inverse Kinematics of a Highly Redundant Robot. In: Abraham, A., Wegrzyn-Wolska, K., Hassanien, A., Snasel, V., Alimi, A. (eds) Proceedings of the Second International Afro-European Conference for Industrial Advancement AECIA 2015. Advances in Intelligent Systems and Computing, vol 427. Springer, Cham. https://doi.org/10.1007/978-3-319-29504-6_41
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