AUTOMATICALLY DESIGNED ROBOTIC ARM BY GENETIC PROGRAMMING

conference paper

English

Genetic programming (GP) mimics models of natural evolution and adaptively searches large spaces in near optimal ways [1]. In this work was developed environment in CATIA (CAD program). The main task of this environment is reach target point by effector including robot effectors orientation. This task can be accomplish with many of robots configuration including for mobile robots, but examine every configuration is very time consuming and nearly beyond human limits. This work allow user find out convenient solution for particular application or more robot applications. The automatically created robots arm (RA) consist from basic joints which are defined or can be easily defined by user including some restriction of theirs parameters (e.g. length, action angle etc.). Among main restriction for automatic created arm belong to minimal cost of robot as whole. The automatically created arms are evaluated by the actual runs on the CATIA kinematics including avoiding obstacles and collisions. This CATIA environment was generally described in relation to automatic creation RA and find trajectory. The Environment is useful for creation and testing RA design with theirs trajectory. The whole environment can be divided into the automatic or semiautomatic generating of RA by using GP and determined trajectory using same method. Each part of the environment can work separately and can be easily added user restrictions or advantages not only for creating arms but including final evaluate RA and trajectory.

Robotic, Genetic Programming, CATIA, Visual Basic, Optimization

DOLEŽEL, R.; SINGULE, V.

2006

13. 9. 2006

Západočeská universita v Plzni

Pilsen

80-7043-486-4

International PhD Conference on Mechanical Engineering - PhD 2006

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