Minimizing cycle time and energy consumption for a multi-degree serial manipulator using teaching–learning-based optimization

摘要: Multiple inverse kinematic solutions are obtained for a multi-degree serial manipulator. Each solution provides a different cycle time and energy consumed to perform a given task in a particular sequence. Improper selection of inverse kinematic solution in a robotic assembly line may lead to an increase in not only overall cycle time but also energy consumption. Therefore, it is necessary to optimize the robot’s performance with respect to cycle time and energy consumption simultaneously. These two objectives usually conflict due to joint motors’ different operational speeds and energy consumption rates. Hence, in this work, an attempt is made to simultaneously optimize both cycle time and energy consumption by minimizing the differences in joint angles of the robot manipulator while moving from one position to another in applications involving multi-point movement of the robot end effector. The proposed …