Paper Abstract and Keywords |
Presentation |
2023-03-16 15:25
Design of Three-Dimensional Binary Manipulator Using genetic algorithm Keita Sugibayashi, Eiji Konaka (Meijo Univ) MSS2022-89 NLP2022-134 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
Different types of manipulators are currently used as industrial robots in many factories; binary manipulators are the manipulators with binary actuator, whose state takes one of the binary values. Therefore, the set of reachable points of the end-effecter of the binary manipulator is discretely distributed and always has an error to the target position. Since the reachable set depends on the extension/retraction length of each binary actuator, it is necessary to design the actuator appropriately according to the area to be manipulated. In this paper, we propose an index to evaluate the distance of the reachable set to the uniform one using the maximum empty circle and the Kolmogolov-Smirnov (KS) statistic, and a design method using a genetic algorithm for a three-dimensional binary manipulator. The usefulness of the design method is confirmed through numerical experiments. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Binary manipulator / maximum empty circle / KS statistic / genetic algorithm / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 122, no. 435, MSS2022-89, pp. 126-131, March 2023. |
Paper # |
MSS2022-89 |
Date of Issue |
2023-03-08 (MSS, NLP) |
ISSN |
Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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MSS2022-89 NLP2022-134 |
Conference Information |
Committee |
NLP MSS |
Conference Date |
2023-03-15 - 2023-03-17 |
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(See Japanese page) |
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Paper Information |
Registration To |
MSS |
Conference Code |
2023-03-NLP-MSS |
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Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Design of Three-Dimensional Binary Manipulator Using genetic algorithm |
Sub Title (in English) |
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Binary manipulator |
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maximum empty circle |
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KS statistic |
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genetic algorithm |
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1st Author's Name |
Keita Sugibayashi |
1st Author's Affiliation |
Meijo University (Meijo Univ) |
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Eiji Konaka |
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Meijo University (Meijo Univ) |
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Speaker |
Author-1 |
Date Time |
2023-03-16 15:25:00 |
Presentation Time |
20 minutes |
Registration for |
MSS |
Paper # |
MSS2022-89, NLP2022-134 |
Volume (vol) |
vol.122 |
Number (no) |
no.435(MSS), no.436(NLP) |
Page |
pp.126-131 |
#Pages |
6 |
Date of Issue |
2023-03-08 (MSS, NLP) |
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