Genetic design of dynamically optimal robotic manipulators

Abstract

This paper presents a procedure for the genetic design of dynamically optimal robotic manipulators. This design procedure is task oriented and minimizes the reaction forces and moments induced by the manipulator during the execution of specific trajectories. These forces and moments are included in an objective function and their reduction is achieved by using genetic algorithms to calculate the balance weight and the associated eccentricity for each link for which the base reaction is minimized. This genetic design technique is illustrated by application to a planar RR manipulator.