Design Optimization of Tree-type Robotic Systems Using Exponential Coordinates and Genetic Algorithms
- Resource Type
- Authors
- J. Amar; K. Nagase
- Source
- 2020 6th International Conference on Control, Automation and Robotics (ICCAR).
- Subject
- 0209 industrial biotechnology
Computer science
02 engineering and technology
Kinematics
Exponential function
Computer Science::Robotics
Set (abstract data type)
Tree (data structure)
Matrix (mathematics)
020901 industrial engineering & automation
Tree structure
Genetic algorithm
0202 electrical engineering, electronic engineering, information engineering
020201 artificial intelligence & image processing
Parametrization
Algorithm
- Language
This paper proposes a new way to optimize the robotic systems using a combination of exponential coordinates and genetic algorithms. The exponential coordinates are an intuitive parametrization to describe the kinematics and dynamics of robotic systems, which only relies on a few parameters called the exponential parameters. The tree-type robotic systems composed of a set of serial link chains are considered in the design. In addition to the physical and the exponential parameters, we also optimize the joints connection (tree structure) by employing the chain matrix. These parameters can be efficiently coded into the strings of the genetic algorithm. Using the strings, we can conduct a simultaneous design optimization including the joint configuration (system geometry) and the joint distribution (system topology). A design example of a 2D arm-hand manipulator system illustrates the proposed method.