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This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…
To date, the multi-objective optimization literature has mainly focused on conflicting objectives, studying the Pareto front, or requiring users to balance tradeoffs. Yet, in machine learning practice, there are many scenarios where such…
Machine learning (ML) methods offer a wide range of configurable hyperparameters that have a significant influence on their performance. While accuracy is a commonly used performance objective, in many settings, it is not sufficient.…
The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The presence of passive joint limits as well as the…
This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. Then a new performance index based…
Design optimization of mechanisms is a promising research area as it results in more energy-efficient machines without compromising performance. However, machine builders do not actually use the design methods described in the literature as…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by…
Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible to view task constrained motion planning as an optimization…
Linear-parametric optimization, where multiple objectives are combined into a single objective using linear combinations with parameters as coefficients, has numerous links to other fields in optimization and a wide range of application…
Model predictive control (MPC) is a powerful framework for optimal control of dynamical systems. However, MPC solvers suffer from a high computational burden that restricts their application to systems with low sampling frequency. This…
This paper presents different methods for solving parallel machine scheduling problems with precedence constraints and setup times between the jobs. Limited discrepancy search methods mixed with local search principles, dominance conditions…
It is known that parallel manipulators suffer from singular configurations. Evaluating the distance between a given configuration to the closest singular one is of interest for industrial applications (e.g.\ singularity-free path planning).…
Branch and bound methods which are based on the principle "divide and conquer" are a well established solution approach in single-objective integer programming. In multi-objective optimization branch and bound algorithms are increasingly…
The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with…
Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix…
This work addresses the Assembly Line Rebalancing Problem in manual assembly systems where multiple workers operate in parallel within the same station - an industrially relevant scenario that remains insufficiently explored in the…
The aim of this paper is to give a detailed examination of the input and output singularities of a 3-RUU parallel manipulator in the translational operation mode. This task is achieved by using algebraic constraint equations. For this type…
This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their…