Motion Optimization of Manipulator with Revolute Joints

In this work the problem of motion optimization of manipulator with revolute joints has been considered. The motion equations of the manipulator elements under any spatial work cycle conditions have been formulated. The formulation has been completed by using the classic vector mechanics and Lagrange equations of second kind. The chosen motion model for each considered actuator is point-to-point motion model with quasi-trapezoid velocity profile. The optimization objective has been chosen as minimization of loads (torques) in actuators and, simultaneously, minimization of duration of considered work cycle. The objective function has been formulated using performance indexes and the design variables are rated velocity value and initial time value of work cycle in each considered actuator. The formulated optimization problem has been solved using constrained Multi-Objective Particle Swarm Optimization algorithm. An exemplary numerical computation has been completed and results of the computation have been attached to the paperwork.