Some Proper Methods for Optimization in Robotics
Olaru D. Adrian, Serban A. Olaru, Mihai C. Niculae · International Journal of Modeling and Optimization · 2017
Optimization in Robotics are applied to find the best solution for increasing the 3D space precision, reduce the vibrations, choose the optimal applied base point of the robots to minimize the time of application, finding constructive or functional parameters that ensure reduced energy consumption, reduce the vibration and increase the stability of the movement, choose the optimal variation of the moments in all joints, finally to optimize the dynamic behavior.In the work was developed one proper algorithm to obtain, iteratively the extreme performances to the 3D space trajectory without vibration in the desirable field of the Fourier spectrum.The research show how can be increased the accuracy of the internal coordinate by solving the inverse kinematics with proper method with the goal to touch the extreme precision better than 0.001mm.