The performance of proposed approach has been compared with genetic algorithm with similar modifications. This approach has been illustrated by selecting optimal parameter of 2-DOF RR planar manipulator and 4-DOF SCARA manipulator. A modification in differential evolution optimization technique is proposed to incorporate the effect of noises in the optimization process and obtain the optimal design of manipulator, which is insensitive to noises. ![]() So far, there has been no attempt to optimize the design parameters of manipulator by which performance variations will be minimum. However, variations in performance are observed due to the effect of uncertainty in design and process parameters. ![]() A robot must have high positioning accuracy and repeatability for precise applications.
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