NDLI: Manipulator system selection based on evaluation of task completion time and cost

Content Provider	IEEE Xplore Digital Library
Author	Yanjiang Huang Gueta, L.B. Chiba, R. Arai, T. Ueyama, T. Sugi, M. Ota, J.
Copyright Year	2011
Description	Author affiliation: Department of Precision Engineering, Graduate School of Engineering, at the University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan (Arai, T.) \|\| Faculty of System Design, Tokyo Metropolitan University, 6-6 Asahigaoka, Hino-shi, 191-0065, Japan (Chiba, R.) \|\| Department of Mechanical Engineering and Intelligent Systems, at the University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan (Sugi, M.) \|\| DENSO WAVE INCORPORATED, 1 Yoshiike Kusagi Agui-cho, Chita-gun, Aichi 470-2297, Japan (Ueyama, T.) \|\| Research into Artifacts, Center for Engineering, the University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa-shi, Chiba 277-8568, Japan (Yanjiang Huang; Gueta, L.B.; Ota, J.)
Abstract	Task completion time and cost are two significant criteria for the selection of manipulator system. For a given task, several Pareto solutions of manipulator systems should be derived based on the evaluation of these two criteria. However, this process requires a large calculation time. In this paper, we propose a method that can select appropriate systems by evaluating task completion time and cost within the desired calculation time. In the proposed method, multiple objective particle swarm optimization (MOPSO) is employed to search for appropriate manipulator systems from a set of candidate systems. Location optimization and motion coordination are integrated to derive the task completion time and the relative cost is used to evaluate the cost of a manipulator system. We employ particle swarm optimization (PSO) for location optimization and use nearest-neighborhood algorithm (NNA) for motion coordination, since PSO and NNA have a high speed of convergence to a good solution. The proposed method is applied to a set of tasks and is proved to be effective and practical.
Starting Page	4698
Ending Page	4703
File Size	610646
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094714
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Optimization Robot kinematics Educational institutions Search problems Equations
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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