Selection of manipulator system for multiple-goal task by evaluating task completion time and cost with computational time constraints |
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| Authors: | Yanjiang Huang Lounell B Gueta Ryosuke Chiba Tamio Arai Tsuyoshi Ueyama Jun Ota |
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| Affiliation: | 1. Research into Artifacts , Center for Engineering, University of Tokyo , 5-1-5 Kashiwanoha , Kashiwa , 277-8568 , Japan huang@race.u-tokyo.ac.jp;3. Research into Artifacts , Center for Engineering, University of Tokyo , 5-1-5 Kashiwanoha , Kashiwa , 277-8568 , Japan;4. Faculty of System Design, Tokyo Metropolitan University , 6-6, Asahigaoka, Hino-shi, Tokyo , 191-0065 , Japan;5. Department of Precision Engineering , Graduate School of Engineering, University of Tokyo , 7-3-1 Hongo, Bunkyo-ku , Tokyo , 113-8656 , Japan;6. DENSO WAVE Inc. , 1-1 Yoshiike, Kusaki, Agui-cho, Chita-gun, Aichi , 470-2297 , Japan |
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| Abstract: | The focus of this study is on the problem of manipulator system selection for a multiple-goal task by evaluating task completion time and cost with computational time constraints. An approach integrating system selection, structural configuration design, layout design, motion planning, and relative cost calculation is proposed to solve this problem within a reasonable computational time. In the proposed approach, multiple-objective particle swarm optimization (MOPSO) is utilized to search for the appropriate manipulator system with appropriate structural configuration from a set of candidate systems. Particle swarm optimization (PSO) and the nearest neighborhood algorithm are employed in layout design and motion planning due to their high convergence speed. Three methods involving a random search algorithm are compared to the proposed approach through a simulation. The simulation is done with a set of tasks and the result shows the effectiveness of the proposed approach. |
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| Keywords: | manipulator system selection task completion time layout design structural configuration |
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