TY - JOUR
T1 - Kinematic dexterity maximization of an omnidirectional wheeled mobile robot
T2 - A comparison of metaheuristic and SQP algorithms
AU - Villarreal-Cervantes, Miguel G.
AU - Cruz-Villar, Carlos A.
AU - Álvarez-Gallegos, Jaime
AU - Portilla-Flores, Edgar A.
PY - 2012/10/31
Y1 - 2012/10/31
N2 - Mobile robots with omnidirectional wheels are expected to perform a wide variety of movements in a narrow space. However, kinematic mobility and dexterity have not been clearly identified as an objective to be considered when designing omnidirectional redundant robots. In light of this fact, this article proposes to maximize the dexterity of the mobile robot by properly locating the omnidirectional wheels. In addition, four hybrid differential evolution (DE) algorithm based on the synergetic integration of different kinds of mutation and crossover are presented. A comparison of metaheuristic and gradient-based algorithms for kinematic dexterity maximization is also presented.
AB - Mobile robots with omnidirectional wheels are expected to perform a wide variety of movements in a narrow space. However, kinematic mobility and dexterity have not been clearly identified as an objective to be considered when designing omnidirectional redundant robots. In light of this fact, this article proposes to maximize the dexterity of the mobile robot by properly locating the omnidirectional wheels. In addition, four hybrid differential evolution (DE) algorithm based on the synergetic integration of different kinds of mutation and crossover are presented. A comparison of metaheuristic and gradient-based algorithms for kinematic dexterity maximization is also presented.
KW - Differential evolution
KW - Kinematic dexterity
KW - Omnidirectional robot
UR - http://www.scopus.com/inward/record.url?scp=84870401433&partnerID=8YFLogxK
U2 - 10.5772/52251
DO - 10.5772/52251
M3 - Artículo
SN - 1729-8806
VL - 9
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
ER -