Evolutionary bi-criteria optimum design of robots based on task specifications View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2009-03

AUTHORS

R. Saravanan, S. Ramabalan, N. Godwin Raja Ebenezer, R. Natarajan

ABSTRACT

The optimum robot structure design problem based on task specifications is an important one, since it has greater influence on manipulator workspace design, vibrations of the manipulator during operation, manipulator efficiency in the work environment and power consumption. In this paper, an optimization robot structure problem is formulated with the objective of determining the optimal geometric dimensions of the robot manipulators considering the task specifications (pick and place operation). The aim is to minimize torque required for motion and maximize manipulability measure of the robot subject to dynamic, kinematic, deflection and structural constraints with link physical characteristics (length and cross-sectional area parameters) as design variables. In this work, five different cross-sections (hollow circle, hollow square, hollow rectangle, C-channel and I-channel) have been experimented for the link. Three evolutionary optimization algorithms namely multi-objective genetic algorithm (MOGA), elitist nondominated sorting genetic algorithm (NSGA-II) and multi-objective differential evolution (MODE) are used for the optimum structural design of 2-link and 3-link planar robots. Two methods (normalized weighting objective functions and average fitness factor) are used to select the best optimal solution. Two multiobjective performance measures namely solution spread measure and ratio of non-dominated individuals are used to evaluate the Pareto optimal fronts. Two more multiobjective performance measures namely optimiser overhead and algorithm effort, are used to find computational effort of optimization algorithm. The results obtained from various techniques are compared and analyzed. More... »

PAGES

386-406

References to SciGraph publications

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s00170-008-1483-8

DOI

http://dx.doi.org/10.1007/s00170-008-1483-8

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1014429787


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0103", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Numerical and Computational Mathematics", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/01", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Mathematical Sciences", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "Anna University, Chennai", 
          "id": "https://www.grid.ac/institutes/grid.252262.3", 
          "name": [
            "Department of Mechatronics Engineering, Kumaraguru College of Technology, 641 006, Coimbatore, Tamil Nadu, India"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Saravanan", 
        "givenName": "R.", 
        "id": "sg:person.016615011705.32", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.016615011705.32"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Anna University, Chennai", 
          "id": "https://www.grid.ac/institutes/grid.252262.3", 
          "name": [
            "Faculty of CAD/CAM (P.G.Course), J. J. College of Engineering and Technology, 620 009, Tiruchirapalli, Tamil Nadu, India"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Ramabalan", 
        "givenName": "S.", 
        "id": "sg:person.014524750547.40", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014524750547.40"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "name": [
            "Department of Mechanical Engineering, Einstein College of Engineering, 627 012, Tirunelveli, Tamil Nadu, India"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Ebenezer", 
        "givenName": "N. Godwin Raja", 
        "id": "sg:person.015777423077.21", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015777423077.21"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Anna University, Chennai", 
          "id": "https://www.grid.ac/institutes/grid.252262.3", 
          "name": [
            "Faculty of CAD/CAM (P.G.Course), J. J. College of Engineering and Technology, 620 009, Tiruchirapalli, Tamil Nadu, India"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Natarajan", 
        "givenName": "R.", 
        "id": "sg:person.010071732277.59", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010071732277.59"
        ], 
        "type": "Person"
      }
    ], 
    "citation": [
      {
        "id": "https://doi.org/10.1002/1097-4563(200102)18:2<77::aid-rob1007>3.0.co;2-a", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1000808524"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1080/1068276021000004706", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1005169099"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/j.rcim.2007.05.003", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1021991923"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1163/156855303770558679", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1025311142"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/s0094-114x(03)00109-5", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1026154747"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1023/a:1015516501242", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1029117407", 
          "https://doi.org/10.1023/a:1015516501242"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/j.robot.2006.04.002", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1034262367"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/j.mechmachtheory.2006.12.001", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1037911612"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/s0094-114x(99)00021-x", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1039644745"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/s0094-114x(99)00072-5", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1051001341"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/4235.996017", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061172126"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.5860/choice.27-0936", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1073293339"
        ], 
        "type": "CreativeWork"
      }
    ], 
    "datePublished": "2009-03", 
    "datePublishedReg": "2009-03-01", 
    "description": "The optimum robot structure design problem based on task specifications is an important one, since it has greater influence on manipulator workspace design, vibrations of the manipulator during operation, manipulator efficiency in the work environment and power consumption. In this paper, an optimization robot structure problem is formulated with the objective of determining the optimal geometric dimensions of the robot manipulators considering the task specifications (pick and place operation). The aim is to minimize torque required for motion and maximize manipulability measure of the robot subject to dynamic, kinematic, deflection and structural constraints with link physical characteristics (length and cross-sectional area parameters) as design variables. In this work, five different cross-sections (hollow circle, hollow square, hollow rectangle, C-channel and I-channel) have been experimented for the link. Three evolutionary optimization algorithms namely multi-objective genetic algorithm (MOGA), elitist nondominated sorting genetic algorithm (NSGA-II) and multi-objective differential evolution (MODE) are used for the optimum structural design of 2-link and 3-link planar robots. Two methods (normalized weighting objective functions and average fitness factor) are used to select the best optimal solution. Two multiobjective performance measures namely solution spread measure and ratio of non-dominated individuals are used to evaluate the Pareto optimal fronts. Two more multiobjective performance measures namely optimiser overhead and algorithm effort, are used to find computational effort of optimization algorithm. The results obtained from various techniques are compared and analyzed.", 
    "genre": "research_article", 
    "id": "sg:pub.10.1007/s00170-008-1483-8", 
    "inLanguage": [
      "en"
    ], 
    "isAccessibleForFree": false, 
    "isPartOf": [
      {
        "id": "sg:journal.1043671", 
        "issn": [
          "0268-3768", 
          "1433-3015"
        ], 
        "name": "The International Journal of Advanced Manufacturing Technology", 
        "type": "Periodical"
      }, 
      {
        "issueNumber": "3-4", 
        "type": "PublicationIssue"
      }, 
      {
        "type": "PublicationVolume", 
        "volumeNumber": "41"
      }
    ], 
    "name": "Evolutionary bi-criteria optimum design of robots based on task specifications", 
    "pagination": "386-406", 
    "productId": [
      {
        "name": "readcube_id", 
        "type": "PropertyValue", 
        "value": [
          "44be3b3b32eeff349d19b2fcece7a38b233851bb79924b86685b41d6c5acdbd7"
        ]
      }, 
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/s00170-008-1483-8"
        ]
      }, 
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1014429787"
        ]
      }
    ], 
    "sameAs": [
      "https://doi.org/10.1007/s00170-008-1483-8", 
      "https://app.dimensions.ai/details/publication/pub.1014429787"
    ], 
    "sdDataset": "articles", 
    "sdDatePublished": "2019-04-11T14:33", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000373_0000000373/records_13104_00000000.jsonl", 
    "type": "ScholarlyArticle", 
    "url": "http://link.springer.com/10.1007/s00170-008-1483-8"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/s00170-008-1483-8'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/s00170-008-1483-8'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/s00170-008-1483-8'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/s00170-008-1483-8'


 

This table displays all metadata directly associated to this object as RDF triples.

122 TRIPLES      21 PREDICATES      39 URIs      19 LITERALS      7 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/s00170-008-1483-8 schema:about anzsrc-for:01
2 anzsrc-for:0103
3 schema:author Na9c5d9959f304143834b633457994491
4 schema:citation sg:pub.10.1023/a:1015516501242
5 https://doi.org/10.1002/1097-4563(200102)18:2<77::aid-rob1007>3.0.co;2-a
6 https://doi.org/10.1016/j.mechmachtheory.2006.12.001
7 https://doi.org/10.1016/j.rcim.2007.05.003
8 https://doi.org/10.1016/j.robot.2006.04.002
9 https://doi.org/10.1016/s0094-114x(03)00109-5
10 https://doi.org/10.1016/s0094-114x(99)00021-x
11 https://doi.org/10.1016/s0094-114x(99)00072-5
12 https://doi.org/10.1080/1068276021000004706
13 https://doi.org/10.1109/4235.996017
14 https://doi.org/10.1163/156855303770558679
15 https://doi.org/10.5860/choice.27-0936
16 schema:datePublished 2009-03
17 schema:datePublishedReg 2009-03-01
18 schema:description The optimum robot structure design problem based on task specifications is an important one, since it has greater influence on manipulator workspace design, vibrations of the manipulator during operation, manipulator efficiency in the work environment and power consumption. In this paper, an optimization robot structure problem is formulated with the objective of determining the optimal geometric dimensions of the robot manipulators considering the task specifications (pick and place operation). The aim is to minimize torque required for motion and maximize manipulability measure of the robot subject to dynamic, kinematic, deflection and structural constraints with link physical characteristics (length and cross-sectional area parameters) as design variables. In this work, five different cross-sections (hollow circle, hollow square, hollow rectangle, C-channel and I-channel) have been experimented for the link. Three evolutionary optimization algorithms namely multi-objective genetic algorithm (MOGA), elitist nondominated sorting genetic algorithm (NSGA-II) and multi-objective differential evolution (MODE) are used for the optimum structural design of 2-link and 3-link planar robots. Two methods (normalized weighting objective functions and average fitness factor) are used to select the best optimal solution. Two multiobjective performance measures namely solution spread measure and ratio of non-dominated individuals are used to evaluate the Pareto optimal fronts. Two more multiobjective performance measures namely optimiser overhead and algorithm effort, are used to find computational effort of optimization algorithm. The results obtained from various techniques are compared and analyzed.
19 schema:genre research_article
20 schema:inLanguage en
21 schema:isAccessibleForFree false
22 schema:isPartOf N843a9320e22e4b1bac723674281677f0
23 Ne5ef49f12b6a4603ae245c41b988cb2f
24 sg:journal.1043671
25 schema:name Evolutionary bi-criteria optimum design of robots based on task specifications
26 schema:pagination 386-406
27 schema:productId N1a640c4640c1467abd714c6197263a37
28 N95b71c87625f4064a89a5a292ea9ed8d
29 Nd932f9e3929e428e86861afd62cc7aae
30 schema:sameAs https://app.dimensions.ai/details/publication/pub.1014429787
31 https://doi.org/10.1007/s00170-008-1483-8
32 schema:sdDatePublished 2019-04-11T14:33
33 schema:sdLicense https://scigraph.springernature.com/explorer/license/
34 schema:sdPublisher N434cfc78c393496db03b9dd13da8b1e2
35 schema:url http://link.springer.com/10.1007/s00170-008-1483-8
36 sgo:license sg:explorer/license/
37 sgo:sdDataset articles
38 rdf:type schema:ScholarlyArticle
39 N1a640c4640c1467abd714c6197263a37 schema:name doi
40 schema:value 10.1007/s00170-008-1483-8
41 rdf:type schema:PropertyValue
42 N4150722efc26462fb8bed8a17e80e7e4 schema:name Department of Mechanical Engineering, Einstein College of Engineering, 627 012, Tirunelveli, Tamil Nadu, India
43 rdf:type schema:Organization
44 N434cfc78c393496db03b9dd13da8b1e2 schema:name Springer Nature - SN SciGraph project
45 rdf:type schema:Organization
46 N843a9320e22e4b1bac723674281677f0 schema:volumeNumber 41
47 rdf:type schema:PublicationVolume
48 N92fcbf4b314e4a85bca769b7bda45cb7 rdf:first sg:person.010071732277.59
49 rdf:rest rdf:nil
50 N95b71c87625f4064a89a5a292ea9ed8d schema:name dimensions_id
51 schema:value pub.1014429787
52 rdf:type schema:PropertyValue
53 N97a023ba826f4e6daaffd75090a9adb3 rdf:first sg:person.015777423077.21
54 rdf:rest N92fcbf4b314e4a85bca769b7bda45cb7
55 Na9c5d9959f304143834b633457994491 rdf:first sg:person.016615011705.32
56 rdf:rest Nfd0fbf396ef64e56bf01df9d29b15e04
57 Nd932f9e3929e428e86861afd62cc7aae schema:name readcube_id
58 schema:value 44be3b3b32eeff349d19b2fcece7a38b233851bb79924b86685b41d6c5acdbd7
59 rdf:type schema:PropertyValue
60 Ne5ef49f12b6a4603ae245c41b988cb2f schema:issueNumber 3-4
61 rdf:type schema:PublicationIssue
62 Nfd0fbf396ef64e56bf01df9d29b15e04 rdf:first sg:person.014524750547.40
63 rdf:rest N97a023ba826f4e6daaffd75090a9adb3
64 anzsrc-for:01 schema:inDefinedTermSet anzsrc-for:
65 schema:name Mathematical Sciences
66 rdf:type schema:DefinedTerm
67 anzsrc-for:0103 schema:inDefinedTermSet anzsrc-for:
68 schema:name Numerical and Computational Mathematics
69 rdf:type schema:DefinedTerm
70 sg:journal.1043671 schema:issn 0268-3768
71 1433-3015
72 schema:name The International Journal of Advanced Manufacturing Technology
73 rdf:type schema:Periodical
74 sg:person.010071732277.59 schema:affiliation https://www.grid.ac/institutes/grid.252262.3
75 schema:familyName Natarajan
76 schema:givenName R.
77 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010071732277.59
78 rdf:type schema:Person
79 sg:person.014524750547.40 schema:affiliation https://www.grid.ac/institutes/grid.252262.3
80 schema:familyName Ramabalan
81 schema:givenName S.
82 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014524750547.40
83 rdf:type schema:Person
84 sg:person.015777423077.21 schema:affiliation N4150722efc26462fb8bed8a17e80e7e4
85 schema:familyName Ebenezer
86 schema:givenName N. Godwin Raja
87 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015777423077.21
88 rdf:type schema:Person
89 sg:person.016615011705.32 schema:affiliation https://www.grid.ac/institutes/grid.252262.3
90 schema:familyName Saravanan
91 schema:givenName R.
92 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.016615011705.32
93 rdf:type schema:Person
94 sg:pub.10.1023/a:1015516501242 schema:sameAs https://app.dimensions.ai/details/publication/pub.1029117407
95 https://doi.org/10.1023/a:1015516501242
96 rdf:type schema:CreativeWork
97 https://doi.org/10.1002/1097-4563(200102)18:2<77::aid-rob1007>3.0.co;2-a schema:sameAs https://app.dimensions.ai/details/publication/pub.1000808524
98 rdf:type schema:CreativeWork
99 https://doi.org/10.1016/j.mechmachtheory.2006.12.001 schema:sameAs https://app.dimensions.ai/details/publication/pub.1037911612
100 rdf:type schema:CreativeWork
101 https://doi.org/10.1016/j.rcim.2007.05.003 schema:sameAs https://app.dimensions.ai/details/publication/pub.1021991923
102 rdf:type schema:CreativeWork
103 https://doi.org/10.1016/j.robot.2006.04.002 schema:sameAs https://app.dimensions.ai/details/publication/pub.1034262367
104 rdf:type schema:CreativeWork
105 https://doi.org/10.1016/s0094-114x(03)00109-5 schema:sameAs https://app.dimensions.ai/details/publication/pub.1026154747
106 rdf:type schema:CreativeWork
107 https://doi.org/10.1016/s0094-114x(99)00021-x schema:sameAs https://app.dimensions.ai/details/publication/pub.1039644745
108 rdf:type schema:CreativeWork
109 https://doi.org/10.1016/s0094-114x(99)00072-5 schema:sameAs https://app.dimensions.ai/details/publication/pub.1051001341
110 rdf:type schema:CreativeWork
111 https://doi.org/10.1080/1068276021000004706 schema:sameAs https://app.dimensions.ai/details/publication/pub.1005169099
112 rdf:type schema:CreativeWork
113 https://doi.org/10.1109/4235.996017 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061172126
114 rdf:type schema:CreativeWork
115 https://doi.org/10.1163/156855303770558679 schema:sameAs https://app.dimensions.ai/details/publication/pub.1025311142
116 rdf:type schema:CreativeWork
117 https://doi.org/10.5860/choice.27-0936 schema:sameAs https://app.dimensions.ai/details/publication/pub.1073293339
118 rdf:type schema:CreativeWork
119 https://www.grid.ac/institutes/grid.252262.3 schema:alternateName Anna University, Chennai
120 schema:name Department of Mechatronics Engineering, Kumaraguru College of Technology, 641 006, Coimbatore, Tamil Nadu, India
121 Faculty of CAD/CAM (P.G.Course), J. J. College of Engineering and Technology, 620 009, Tiruchirapalli, Tamil Nadu, India
122 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...