Optimization of Manipulability and Electricity Consumption Through the Heuristic Kalman Algorithm in Serial Manipulators

摘要

In the present work a path planning methodology for serial anthropomorphicmanipulator with six degrees of freedom with spherical wrist focusedon minimizing power consumption and maximizing the manipulability isproposed. To achieve this end, an optimization algorithm is developedwhich is based on the Heuristic Kalman Algorithm (HKA), and aims tofind the optimal path according to the proposed multi-objective functionwithin a proposed simplified spherical space. The optimization algorithm isevaluated by analyzing the behavior of two paths in the PUMA 560 robot,simulated in a program developed in Visual Basic belongs to AutodeskInventor software.MCS: 80M50