Work space optimization of a r-r planar manipulator using particle swarm optimization technique

Abstract

A two link revolute planar robotic manipulator is optimized for maximization of work space covered by its end effector. A mathematical model for optimization is built considering singularities which control the range of design variables. Condition number which is the measure of change in output value (End effector position) for a small change in input value (joint angles) is modeled as the constraint. The non linear optimization model is initially linearised using Sequential Linear Programming technique and is solved graphically for optimum value of objective function. Particle swarm optimization technique is implemented on the non-linear optimization model for optimum value of objective function. The maximum value of objective function obtained from Particle swarm technique is found to be significantly higher than the value obtained using graphical approach.

Keywords: Singularities, Condition number, Work-space