• Title, Summary, Keyword: joint optimization

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Trajectory planning for redundant robot by joint disturbance torque minimization (여유자유도 로봇의 관절외란최소화를 이용한 궤적계획)

  • 최명환;최병진
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1581-1584
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    • 1997
  • This paper poropsed an efficient optimization technuque to resolve redundancy and a trajectory planning for a high precision control using proposed optimization technique. The proposed techniqus is the joint disturbance torque optimizatioin considering redundancy in the joing servo control. Joint disturbance torque is not unknown it is described dynamic equation ignored friction and viscosity. The proposed technique is used the dynamic equatiion included the joint disturbance torque characteristics. Numerical example of 3 joint planar redundant robot manipulator is simulated. In the 2-norm minimization of joint disturbance torque we compared pseudoinverse local optimization with proposed technique, and the results showed better the proposed technique. So the proposed technique can be highly precision controlled redundant robot manipulators in the joint servo control.

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Joint optimization of redundancy and component-reliabilities in a series system

  • Yum, Bong-Jin
    • Journal of the Korean Operations Research and Management Science Society
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    • v.10 no.2
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    • pp.38-44
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    • 1985
  • Systems reliability can be improved by using redundancy and/or developing more reliable components. This papaer considers a joint optimization of both alternatives for a series system. It is shown that the n-stage optimization problem can be decomposed into n single stage subproblem. Each subproblem is further transformed into a univariate optimization problem for which a simple and efficient solution method is developed.

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Optimum topology design of geometrically nonlinear suspended domes using ECBO

  • Kaveh, A.;Rezaei, M.
    • Structural Engineering and Mechanics
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    • v.56 no.4
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    • pp.667-694
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    • 2015
  • The suspended dome system is a new structural form that has become popular in the construction of long-span roof structures. Suspended dome is a kind of new pre-stressed space grid structure that has complex mechanical characteristics. In this paper, an optimum topology design algorithm is performed using the enhanced colliding bodies optimization (ECBO) method. The length of the strut, the cable initial strain, the cross-sectional area of the cables and the cross-sectional size of steel elements are adopted as design variables and the minimum volume of each dome is taken as the objective function. The topology optimization on lamella dome is performed by considering the type of the joint connections to determine the optimum number of rings, the optimum number of joints in each ring, the optimum height of crown and tubular sections of these domes. A simple procedure is provided to determine the configuration of the dome. This procedure includes calculating the joint coordinates and steel elements and cables constructions. The design constraints are implemented according to the provision of LRFD-AISC (Load and Resistance Factor Design-American Institute of Steel Constitution). This paper explores the efficiency of lamella dome with pin-joint and rigid-joint connections and compares them to investigate the performance of these domes under wind (according to the ASCE 7-05), dead and snow loading conditions. Then, a suspended dome with pin-joint single-layer reticulated shell and a suspended dome with rigid-joint single-layer reticulated shell are discussed. Optimization is performed via ECBO algorithm to demonstrate the effectiveness and robustness of the ECBO in creating optimal design for suspended domes.

Structural Layout Optimization Strategy Considering Assemblage (조립성을 고려한 위상 최적설계법 개발)

  • Choi Guk-Jin;Kim Myung-Jin;Kim Yoon-Young;Jang Gang-Won
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.30 no.5
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    • pp.512-519
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    • 2006
  • In the ground-structure-based topology optimization, beam elements are regarded to be rigidly connected to each other, and joints are assumed to have infinite stiffness. Thus the optimized topology of a structure is obtained according to the assumption of no joint effect, and the resulting structure should be manufactured in one piece if the joint effect is to be excluded as much as possible. The underlying problems are that 1) the performance of the structure might be seriously decreased if the members of the structure are connected through welding or bolting, not manufactured in one piece, and 2) the topology of the structure will be changed if the joint effect is taken into account. In the paper, the assemblage issue is considered on topology optimization, and a new formulation based on the joint stiffness-varied ground beam structure is developed. Joints of a beam structure are modeled by elastic spring elements whose stiffnesses are controlled by design variables during the optimization.

Design Optimization of Double-array Bolted Joints in Cylindrical Composite Structures

  • Kim, Myungjun;Kim, Yongha;Kim, Pyeunghwa;Park, Jungsun
    • International Journal of Aeronautical and Space Sciences
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    • v.17 no.3
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    • pp.332-340
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    • 2016
  • A design optimization is performed for the double-bolted joint in cylindrical composite structures by using a simplified analytical method. This method uses failure criteria for the major failure modes of the bolted composite joint. For the double-bolted joint with a zigzag arrangement, it is necessary to consider an interaction effect between the bolt arrays. This paper proposes another failure mode which is determined by angle and distance between two bolts in different arrays and define a failure criterion for the failure mode. The optimal design for the double-bolted joint is carried out by considering the interactive net-tension failure mode. The genetic algorithm (GA) is adopted to determine the optimized parameters; bolt spacing, edge distance, and stacking sequence of the composite laminate. A purpose of the design optimization is to maximize the burst pressure of the cylindrical structures by ensuring structural integrity. Also, a progressive failure analysis (PFA) is performed to verify the results of the optimal design for the double-bolted joint. In PFA, Hashin 3D failure criterion is used to determine the ply that would fail. A stiffness reduction model is then used to reduce the stiffness of the failed ply for the corresponding failure mode.

Optimization of the Elastic Joint of Train Bogie Using by Response Surface Model (반응표면모델에 의한 철도 차량 대차의 탄성조인트 최적설계)

  • Park, Chan-Gyeong;Lee, Gwang-Gi
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.24 no.3
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    • pp.661-666
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    • 2000
  • Optimization of the elastic joint of train is performed according to the minimization of ten responses which represent driving safety and ride comfort of train and analyzed by using the each response se surface model from stochastic design of experiments. After the each response surface model is constructed, the main effect and sensitivity analyses are successfully performed by 2nd order approximated regression model as described in this paper. We can get the optimal solutions using by nonlinear programming method such as simplex or interval optimization algorithms. The response surface models and the optimization algorithms are used together to obtain the optimal design of the elastic joint of train. the ten 2nd order polynomial response surface models of the three translational stiffness of the elastic joint (design factors) are constructed by using CCD(Central Composite Design) and the multi-objective optimization is also performed by applying min-max and distance minimization techniques of relative target deviation.

A Dexterous Motion Control Method of Redundant Robot Manipulators based on Neural Optimization Networks (신경망 최적화 회로를 이용한 여유자유도 로봇의 유연 가조작 모션 제어 방법)

  • Hyun, Woong-Keun;Jung, Young-Kee
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.5 no.4
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    • pp.756-765
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    • 2001
  • An effective dexterous motion control method of redundant robot manipulators based on neural optimization network is proposed to satisfy multi-criteria such as singularity avoidance, minimizing energy consumption, and avoiding physical limits of actuator, while performing a given task. The method employs a neural optimization network with parallel processing capability, where only a simple geometric analysis for resolved motion of each joint is required instead of computing of the Jacobian and its pseudo inverse matrix. For dexterous motion, a joint geometric manipulability measure(JGMM) is proposed. JGMM evaluates a contribution of each joint differential motion in enlarging the length of the shortest axis among principal axes of the manipulability ellipsoid volume approximately obtained by a geometric analysis. Redundant robot manipulators is then controlled by neural optimization networks in such a way that 1) linear combination of the resolved motion by each joint differential motion should be equal to the desired velocity, 2) physical limits of joints are not violated, and 3) weighted sum of the square of each differential joint motion is minimized where weightings are adjusted by JGMM. To show the validity of the proposed method, several numerical examples are illustrated.

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Optimal Joint Trajectory Generation for Biped Walking of Humanoid Robot based on Reference ZMP Trajectory (목표 ZMP 궤적 기반 휴머노이드 로봇 이족보행의 최적 관절궤적 생성)

  • Choi, Nak-Yoon;Choi, Young-Lim;Kim, Jong-Wook
    • The Journal of Korea Robotics Society
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    • v.8 no.2
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    • pp.92-103
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    • 2013
  • Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

Joint Optimization for Residual Energy Maximization in Wireless Powered Mobile-Edge Computing Systems

  • Liu, Peng;Xu, Gaochao;Yang, Kun;Wang, Kezhi;Li, Yang
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • v.12 no.12
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    • pp.5614-5633
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    • 2018
  • Mobile Edge Computing (MEC) and Wireless Power Transfer (WPT) are both recognized as promising techniques, one is for solving the resource insufficient of mobile devices and the other is for powering the mobile device. Naturally, by integrating the two techniques, task will be capable of being executed by the harvested energy which makes it possible that less intrinsic energy consumption for task execution. However, this innovative integration is facing several challenges inevitably. In this paper, we aim at prolonging the battery life of mobile device for which we need to maximize the harvested energy and minimize the consumed energy simultaneously, which is formulated as residual energy maximization (REM) problem where the offloading ratio, energy harvesting time, CPU frequency and transmission power of mobile device are all considered as key factors. To this end, we jointly optimize the offloading ratio, energy harvesting time, CPU frequency and transmission power of mobile device to solve the REM problem. Furthermore, we propose an efficient convex optimization and sequential unconstrained minimization technique based combining method to solve the formulated multi-constrained nonlinear optimization problem. The result shows that our joint optimization outperforms the single optimization on REM problem. Besides, the proposed algorithm is more efficiency.

Redundant Robot Control by Neural Optimization Networks (신경망 최적화 회로에 의한 여유자유도를 갖는 로보트의 제어)

  • 현웅근;서일홍
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.39 no.6
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    • pp.638-648
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    • 1990
  • An effective resolved motion control method of redundant manipulators is proposed to minimize the energy consumption and to increase the dexterity while satisfying the physical actuator constraints. The method employs the neural optimization networks, where the computation of Jacobian matrix is not required. Specifically, end effector movement resulting from each joint differential motion is first separated into orthogonal and tangential components with respect to a given desired trajectory. Then the resolved motion is obtained by neural optimization networks in such a way that 1) linear combination of the orthogonal components should be null 2) linear combination of the tangential components should be the differential length of the desired trajectory, 3) differential joint motion limit is not violated, and 4) weighted sum of the square of each differential joint motion is minimized. Here the weighting factors are controlled by a newly defined joint dexterity measure as the ratio of the tangential and orthogonal components.

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