Metamodels for Planar 3R Workspace Optimization.

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Robotic workspace optimization is a central element of robot system design. To formulate the optimization problem, the complex relationships between design variables, tuning parameters, and performance indices need to be accurately and efficiently represented. The nature of the relationships suggests that metamodels, or models of the models, should be used to derive suitable objective functions. A comparison of two metamodeling techniques for robotic workspace optimization problems for several trial cases suggests that non-uniform rational B-spline models, derived from computer graphics and computer-aided design techniques, are as suitable as response surface models to solve planar 3R workspace optimization problems. Promising nonlinear ... continued below

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10 p.

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Turner, C. J. (Cameron J.) January 1, 2002.

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Description

Robotic workspace optimization is a central element of robot system design. To formulate the optimization problem, the complex relationships between design variables, tuning parameters, and performance indices need to be accurately and efficiently represented. The nature of the relationships suggests that metamodels, or models of the models, should be used to derive suitable objective functions. A comparison of two metamodeling techniques for robotic workspace optimization problems for several trial cases suggests that non-uniform rational B-spline models, derived from computer graphics and computer-aided design techniques, are as suitable as response surface models to solve planar 3R workspace optimization problems. Promising nonlinear modeling results with B-spline models suggest future work is justified and performance gains can be realized.

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10 p.

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  • Submitted to: Proceedings of DETC'02: ASME 2002 Design Engineering Technical Conferences and Computers and Informaton in Engineering Conference, Montreal, Canada, September 29-October 2, 2002

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  • Report No.: LA-UR-02-3576
  • Report No.: DETC2002/CIE-34500
  • Grant Number: none
  • Office of Scientific & Technical Information Report Number: 976202
  • Archival Resource Key: ark:/67531/metadc927141

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  • January 1, 2002

Added to The UNT Digital Library

  • Nov. 13, 2016, 7:26 p.m.

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  • Dec. 12, 2016, 6:04 p.m.

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Turner, C. J. (Cameron J.). Metamodels for Planar 3R Workspace Optimization., article, January 1, 2002; United States. (digital.library.unt.edu/ark:/67531/metadc927141/: accessed September 20, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.