Optimization on robot arm machining by using genetic algorithms

Tung-Kuan Liu; Chiu-Hung Chen; Shang-En Tsai

doi:10.1117/12.784513

9 January 2008 Optimization on robot arm machining by using genetic algorithms

Tung-Kuan Liu, Chiu-Hung Chen, Shang-En Tsai

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 679431 (2008) https://doi.org/10.1117/12.784513
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

In this study, an optimization problem on the robot arm machining is formulated and solved by using genetic algorithms (GAs). The proposed approach adopts direct kinematics model and utilizes GA's global search ability to find the optimum solution. The direct kinematics equations of the robot arm are formulated and can be used to compute the end-effector coordinates. Based on these, the objective of optimum machining along a set of points can be evolutionarily evaluated with the distance between machining points and end-effector positions. Besides, a 3D CAD application, CATIA, is used to build up the 3D models of the robot arm, work-pieces and their components. A simulated experiment in CATIA is used to verify the computation results first and a practical control on the robot arm through the RS232 port is also performed. From the results, this approach is proved to be robust and can be suitable for most machining needs when robot arms are adopted as the machining tools.

Citation Download Citation

Tung-Kuan Liu, Chiu-Hung Chen, and Shang-En Tsai "Optimization on robot arm machining by using genetic algorithms", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679431 (9 January 2008); https://doi.org/10.1117/12.784513

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