Optimization of Gripper Configuration by Genetic Algorithm
Journal Title: International Journal of Robotics Research and Development (IJRRD) - Year 2019, Vol 9, Issue 1
Abstract
An algorithm to find out the optimum configuration from a list of possible options are carried out in this paper. An equation relating input force applied and output obtaining are found out for each configuration by the help of static force analysis. Friction and dynamics characterize are not considered since they do not affect on grasping force or effect equally on different configurations. Genetic algorithm which is a tool in MATLAB is used to find the best possible values for each link. By comparing the function value and choosing the extreme value, optimum configuration can be found out. On that basics, best configuration and its link length values are found.
Authors and Affiliations
Anil K B
Keywords
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- EP ID EP602644
- DOI 10.24247/ijrrdjun20193
- Views 132
- Downloads 0
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