Determining Task Optimal Modular Robot Assembly Configurations

A "modular" robotic system consists of standardized joint and link units that can be assembled into a number of different kinematic configurations. Given a predetermined set of modules, this paper considers the problem of finding an "optimal" module assembly configuration for a specific task. The authors formulate the solution as a discrete optimization procedure. The formulation is based on an assembly incidence matrix representation of a modular robot and a general task-oriented objective function that can incorporate many realistic task criteria. Genetic algorithms (GA) are employed to solve this optimization problem, and a canonical method to represent a modular assembly in terms of genetic strings is introduced. An example involving a 3-DOF manipulator configuration is presented to demonstrate the feasibility of this approach.

Authors

• I-Ming Chen 0001
• Joel W. Burdick

Keywords

• Robotic assembly
• Joining processes
• Robots
• Robotics and automation
• Kinematics
• Genetic algorithms
• Orbital robotics
• Production engineering
• Assembly systems
• Optimization methods
• Objective Function
• Specific Tasks
• Robotic System
• Task Requirements
• Number Of Configurations
• Incidence Matrix
• Linker Domain
• Revolute Joints
• Link Level
• Modular Assembly
• Evaluation Of Function
• Workspace
• Structural Orientation
• Value Of Map
• Assembly Patterns