Process-conditioned robot optimization (Q2746109)
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scientific article; zbMATH DE number 1655532
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Process-conditioned robot optimization |
scientific article; zbMATH DE number 1655532 |
Statements
4 March 2004
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generalized position vector
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spring-damper connection
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nonlinear vector optimization problems
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optimization criteria
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robot PUMA 500
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Process-conditioned robot optimization (English)
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After presenting the nonlinear system of differential equations of motion for generalized position vector (with nine degrees of freedom for elastic and six degrees of freedom for a rigid spring-damper connection), the authors identify various optimization parameters. They use three specific criteria for nonlinear vector optimization problems introduced by \textit{G. Prokop} and \textit{F. Pfeiffer} [Proc. of IEEE Int. Conf. on Robotics and Automation, 2182-2187 (1996)]. The optimized behavior is presented for different optimization criteria based on numerical results for robotic fitting of a rubber gasket into a channel by using the robot PUMA 500.
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