Multi-criteria optimal placement of robots in constrained environments

摘要

SUMMARY A general method is presented to automatically determine the placement of manipulators which allows one to optimize multiple kinematic performances indices during the execution of their tasks. It considers the presence of obstacles in the workstation and constraints on the motion of the manipulator's joints. The complete formulation is included, and an example with a six-degree-of-freedom manipulator in a cluttered environment es solved that demonstrates the improvements achieved for the manipulator performances by applying the method.