Speaker
Jakub Safarik
(IT4Innovations)
Description
The article describes the optimization of robotic arm placement to target workspace. We optimize the position of the manipulator for a fixed end-point trajectory while minimizing the power consumption of manipulator during a working cycle. The optimization is based on the Particle Swarm Optimization algorithm, which generates individual solutions for a given trajectory. Each trajectory solution evaluates the V-REP virtual simulation platform. All of the time-consuming tasks was accelerated using parallel approach to V-REP computation and using parallel code wherever possible. The results of simulations were verified in a laboratory on the real collaborative robot UR3.
Primary authors
Zdeno Bobovsky
(Dept. of Robotics,Faculty of Mechanical Engineering, VŠB-TUO)
Tomas Kot
(Dept. of Robotics,Faculty of Mechanical Engineering, VŠB-TUO)
Vaclav Krys
(Dept. of Robotics,Faculty of Mechanical Engineering, VŠB-TUO)
Petr Novak
(Dept. of Robotics,Faculty of Mechanical Engineering, VŠB-TUO)
Richard Paprok
(Dept. of Robotics,Faculty of Mechanical Engineering, VŠB-TUO)
Jakub Safarik
(IT4Innovations)
Vaclav Snasel
(Department of Computer Science, FEECS, VŠB-TUO)
