Practically robots involve in highly dynamic environments to execute specific tasks. To ensure a maximal performance, the optimization of architecture as well as the design parameters are frequently required. This is recurrent and more significant when the task requirements related to safety or other operating conditions must be guaranteed. The present work focuses on two important issues constantly in interaction in robotics, namely optimal robot design and task-based design of robots. The first one deals with optimization approaches and solving methods in order to design robot parts, which includes their dimensioning, according to a number of optimality criteria. The second features a wider set of goals, concerning the selection of the requested number of degrees of freedom as well as the kind of joints to be used, the architecture type, suitable mechanical designs, and control architecture. This step is well known as task-oriented robot design. The main objective of this chapter is to present the most recent research works in the application of optimization and search techniques to task-based robot design.
Robot Design: Optimization Methods and Task-Based Design
Mechan. Machine Science
2022-10-02
19 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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