0

Full Content is available to subscribers

Subscribe/Learn More  >

Task-Based Configuration Management for Modular Serial Robotic Manipulators

[+] Author Affiliations
Oziel Rios, Ganesh Krishnamoorthy, Aaron Hulse, Lucas Koran, Benjamin Gully, Carolyn Conner Seepersad, Delbert Tesar

University of Texas at Austin, Austin, TX

Paper No. DETC2007-34499, pp. 533-540; 8 pages
doi:10.1115/DETC2007-34499
From:
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME

abstract

Modular robotic systems have become popular in recent years due to the ease of reconfigurability to satisfy varying task requirements. Due to the nonlinear nature of the actuator performance parameters, it is often difficult to map component specifications to the overall system performance making it cumbersome to use these parameters to design the system. Specifying system requirements based on task specifications, on the other hand, provides greater insight into how the system must perform in order to complete a given task and the resources required to achieve this performance. In this paper, we present a method for optimal design of modular robotic manipulators using a finite set of actuators to execute various tasks. Three different tasks — material removal, welding and a pick-and-place operation — which have different requirements in terms of the force, speed, precision and energy required to perform them, are considered. A set of five actuators is used to form different serial robotic manipulator configurations whose ability to accomplish the task is then evaluated using various performance metrics. A sequential filtering method is used to eliminate infeasible manipulator configurations and the remaining feasible set of manipulator configurations are then optimized using the weighted sum and compromise multiobjective optimization methods to determine a Pareto optimal manipulator configuration to accomplish each of the three tasks individually, in addition to a fourth manipulator configuration that is capable of accomplishing all the three tasks.

Copyright © 2007 by ASME
Topics: Manipulators

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In