A Multi-Objective Optimization of a Robotic Arm for Service Tasks

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CASTEJÓN, Cristina ;CARBONE, Giuseppe ;PRADA, J.C. García ;CECCARELLI, M. .
A Multi-Objective Optimization of a Robotic Arm for Service Tasks. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 56, n.5, p. 316-329, october 2017. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/a-multi-objective-optimization-of-a-robotic-arm-for-service-tasks/>. Date accessed: 02 jun. 2020. 
doi:http://dx.doi.org/.
Castejón, C., Carbone, G., Prada, J., & Ceccarelli, M.
(2010).
A Multi-Objective Optimization of a Robotic Arm for Service Tasks.
Strojniški vestnik - Journal of Mechanical Engineering, 56(5), 316-329.
doi:http://dx.doi.org/
@article{.,
	author = {Cristina  Castejón and Giuseppe  Carbone and J.C. García  Prada and M.  Ceccarelli},
	title = {A Multi-Objective Optimization of a Robotic Arm for Service Tasks},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {56},
	number = {5},
	year = {2010},
	keywords = {robotics; robot design; service robots; optimal design; },
	abstract = {In this paper, the main characteristics and peculiarities of service tasks are investigated in order to propose the design criteria in the form of computationally efficient objective functions. Then, these design criteria can be implemented in a multi-objective optimization algorithm by using ever commercial packages in order to obtain optimal design solutions for service robots. The proposed procedure has been applied to a robotic arm for service tasks. It is composed of two modules with four degrees of freedom (dofs). The main module with two dofs is called SIDEMAR (Spanish acronym of Mechatronic Design of an Integrated System for Service Robots). It has been designed and built at the Carlos III University of Madrid as a module for service robot applications. Results of the above-mentioned case study are reported to show both the soundness and engineering feasibility of the proposed multi-objective optimal design procedure.},
	issn = {0039-2480},	pages = {316-329},	doi = {},
	url = {https://www.sv-jme.eu/article/a-multi-objective-optimization-of-a-robotic-arm-for-service-tasks/}
}
Castejón, C.,Carbone, G.,Prada, J.,Ceccarelli, M.
2010 October 56. A Multi-Objective Optimization of a Robotic Arm for Service Tasks. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 56:5
%A Castejón, Cristina 
%A Carbone, Giuseppe 
%A Prada, J.C. García 
%A Ceccarelli, M. 
%D 2010
%T A Multi-Objective Optimization of a Robotic Arm for Service Tasks
%B 2010
%9 robotics; robot design; service robots; optimal design; 
%! A Multi-Objective Optimization of a Robotic Arm for Service Tasks
%K robotics; robot design; service robots; optimal design; 
%X In this paper, the main characteristics and peculiarities of service tasks are investigated in order to propose the design criteria in the form of computationally efficient objective functions. Then, these design criteria can be implemented in a multi-objective optimization algorithm by using ever commercial packages in order to obtain optimal design solutions for service robots. The proposed procedure has been applied to a robotic arm for service tasks. It is composed of two modules with four degrees of freedom (dofs). The main module with two dofs is called SIDEMAR (Spanish acronym of Mechatronic Design of an Integrated System for Service Robots). It has been designed and built at the Carlos III University of Madrid as a module for service robot applications. Results of the above-mentioned case study are reported to show both the soundness and engineering feasibility of the proposed multi-objective optimal design procedure.
%U https://www.sv-jme.eu/article/a-multi-objective-optimization-of-a-robotic-arm-for-service-tasks/
%0 Journal Article
%R 
%& 316
%P 14
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 56
%N 5
%@ 0039-2480
%8 2017-10-24
%7 2017-10-24
Castejón, Cristina, Giuseppe  Carbone, J.C. García  Prada, & M.  Ceccarelli.
"A Multi-Objective Optimization of a Robotic Arm for Service Tasks." Strojniški vestnik - Journal of Mechanical Engineering [Online], 56.5 (2010): 316-329. Web.  02 Jun. 2020
TY  - JOUR
AU  - Castejón, Cristina 
AU  - Carbone, Giuseppe 
AU  - Prada, J.C. García 
AU  - Ceccarelli, M. 
PY  - 2010
TI  - A Multi-Objective Optimization of a Robotic Arm for Service Tasks
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 
KW  - robotics; robot design; service robots; optimal design; 
N2  - In this paper, the main characteristics and peculiarities of service tasks are investigated in order to propose the design criteria in the form of computationally efficient objective functions. Then, these design criteria can be implemented in a multi-objective optimization algorithm by using ever commercial packages in order to obtain optimal design solutions for service robots. The proposed procedure has been applied to a robotic arm for service tasks. It is composed of two modules with four degrees of freedom (dofs). The main module with two dofs is called SIDEMAR (Spanish acronym of Mechatronic Design of an Integrated System for Service Robots). It has been designed and built at the Carlos III University of Madrid as a module for service robot applications. Results of the above-mentioned case study are reported to show both the soundness and engineering feasibility of the proposed multi-objective optimal design procedure.
UR  - https://www.sv-jme.eu/article/a-multi-objective-optimization-of-a-robotic-arm-for-service-tasks/
@article{{}{.},
	author = {Castejón, C., Carbone, G., Prada, J., Ceccarelli, M.},
	title = {A Multi-Objective Optimization of a Robotic Arm for Service Tasks},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {56},
	number = {5},
	year = {2010},
	doi = {},
	url = {https://www.sv-jme.eu/article/a-multi-objective-optimization-of-a-robotic-arm-for-service-tasks/}
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TY  - JOUR
AU  - Castejón, Cristina 
AU  - Carbone, Giuseppe 
AU  - Prada, J.C. García 
AU  - Ceccarelli, M. 
PY  - 2017/10/24
TI  - A Multi-Objective Optimization of a Robotic Arm for Service Tasks
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 56, No 5 (2010): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 
KW  - robotics, robot design, service robots, optimal design, 
N2  - In this paper, the main characteristics and peculiarities of service tasks are investigated in order to propose the design criteria in the form of computationally efficient objective functions. Then, these design criteria can be implemented in a multi-objective optimization algorithm by using ever commercial packages in order to obtain optimal design solutions for service robots. The proposed procedure has been applied to a robotic arm for service tasks. It is composed of two modules with four degrees of freedom (dofs). The main module with two dofs is called SIDEMAR (Spanish acronym of Mechatronic Design of an Integrated System for Service Robots). It has been designed and built at the Carlos III University of Madrid as a module for service robot applications. Results of the above-mentioned case study are reported to show both the soundness and engineering feasibility of the proposed multi-objective optimal design procedure.
UR  - https://www.sv-jme.eu/article/a-multi-objective-optimization-of-a-robotic-arm-for-service-tasks/
Castejón, Cristina, Carbone, Giuseppe, Prada, J.C. García, AND Ceccarelli, M..
"A Multi-Objective Optimization of a Robotic Arm for Service Tasks" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 56 Number 5 (24 October 2017)

Authors

Affiliations

  • MAQLAB group, Mechanical Engineering Dept., Universidad Carlos III de Madrid, Spain
  • LARM: Laboratory of Robotics and Mechatronics, DiMSAT, University of Cassino, Italy
  • MAQLAB group, Mechanical Engineering Dept., Universidad Carlos III de Madrid, Spain
  • LARM: Laboratory of Robotics and Mechatronics, DiMSAT, University of Cassino, Italy

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 56(2010)5, 316-329

In this paper, the main characteristics and peculiarities of service tasks are investigated in order to propose the design criteria in the form of computationally efficient objective functions. Then, these design criteria can be implemented in a multi-objective optimization algorithm by using ever commercial packages in order to obtain optimal design solutions for service robots. The proposed procedure has been applied to a robotic arm for service tasks. It is composed of two modules with four degrees of freedom (dofs). The main module with two dofs is called SIDEMAR (Spanish acronym of Mechatronic Design of an Integrated System for Service Robots). It has been designed and built at the Carlos III University of Madrid as a module for service robot applications. Results of the above-mentioned case study are reported to show both the soundness and engineering feasibility of the proposed multi-objective optimal design procedure.

robotics; robot design; service robots; optimal design;