An Application of Robotic Optimization: Design for a Tire Changing Robot
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Authors
Mihali, Raul
Grigorian, Mher
Sobh, Tarek M.
Issue Date
2000
Type
Article
Language
en_US
Keywords
Engineering , Automation , Manipulation , Mechanical optimization , Prototyping , Robotics , Sensing
Alternative Title
Abstract
Robotics experiences tremendous evolutions every year. Once a topic is mainly approached at research centers, read through highly specialized books and viewed distantly on scientific channels, nowadays it is a common and very approachable subject among undergraduate students of many universities. More and more robots are being designed every day, demanding technological implementation and production. This progress does not come without its glitches, however. A common and increasing problem that appears is the insufficient testing, simulation and optimization steps that a robotic construction needs to pass in order to achieve an efficient design. These steps prove to be difficult and sometimes discouraging, resulting in laborious work, due to lack of tools. This paper presents an example of a robotic optimization and testing, using a generic software package, applied on a custom manipulator, a tire-changing robot. Although the manipulator is designed with its own simulation and control package, it may lack optimality or validity. We implemented a different software package, focused on optimization and control of simple generic robots (XXX.RRR types) and apply the package on the tire-changer manipulator. The results provide improvements for the primary controlling software and confirm its correctness.
Description
The final publication is available at link.springer.com.
Citation
R. Mihali, M. Grigorian, T. M. Sobh, "An Application of Robotic Optimization: Design for a Tire Changing Robot," Journal of Intelligent and Robotic Systems, vol. 29, no. 3, 2000.
Publisher
Kluwer Academic Publishers