Diseño de un manipulador móvil con energía mecánica óptima usando evolución diferencial

In this work, the design of kinematic and dynamic parameters of links of a mobile manipulator is stated as a numerical optimization problem (NOP). The NOP aims to minimize the mechanical energy of the system in critical positions given by the vertices of a workspace and consequently reduce the energy consumption of the control system during its operation in the workspace. An exhaustive exploitation mechanism is included in the traditional differential evolution algorithm to improve the search into a neighborhood in the design space. Simulation results show the performance of the algorithm. The resulting design shows less energy consumption than other three designs.