## Development of Novel Task-Based Configuration Optimization Methodologies for Modular and Reconfigurable Robots Using Multi-Solution Inverse Kinematic Algorithms

### BibTeX

@MISC{Tabandeh_developmentof,

author = {Saleh Tabandeh},

title = {Development of Novel Task-Based Configuration Optimization Methodologies for Modular and Reconfigurable Robots Using Multi-Solution Inverse Kinematic Algorithms},

year = {}

}

### OpenURL

### Abstract

any required final revisions, as accepted by my examiners. I understand that my thesis may be made electronically available to the public. Modular and Reconfigurable Robots (MRRs) are those designed to address the increasing demand for flexible and versatile manipulators in manufacturing facilities. The term, modularity, indicates that they are constructed by using a limited number of interchangeable standardized modules which can be assembled in different kinematic configurations. Thereby, a wide variety of specialized robots can be built from a set of standard components. The term, reconfigurability, implies that the robots can be disassembled and rearranged to accommodate different products or tasks rather than being replaced. A set of MRR modules may consist of joints, links, and end-effectors. Different kinematic configurations are achieved by using different joint, link, and end-effector modules and by changing their relative orientation. The number of distinct kinematic configurations, attainable by a set of modules, varies with respect to the size of the module set from several tens to several thousands. Although determining the most suitable configuration for a specific task from

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Citation Context ...st group, the idea is to solve the GTSP directly. An exact algorithm has been developed for the GTSP by formulating it into an integer programming problem and finding the shortest Hamiltonian circuit =-=[137]-=-. A Lagrangian relaxation algorithm has also been proposed for solving the GTSP [138]. A branch and cut algorithm for the asymmetric version of the problem has also been developed in [139]. The approa... |

24 |
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Citation Context ...straint task to be fulfilled, along with the end-effector task. Then, an augmented Jacobian matrix is formed. The inverse of the augmented Jacobian is adopted to determine the joint velocity solution =-=[85, 86, 87]-=-. Interval Analysis [88, 89, 68] is an iterative technique which is not based on the concept of Gradient descent. Although interval analysis can be used to find all the solutions of the IK problem, it... |

24 |
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Citation Context ...routines of the Matlab toolbox implementation of CM, called HomLab 10, which is specifically developed to solve the IK problem is utilized [124]. HomLab 10 has been developed as companion software of =-=[125]-=-. For solving the IK problem, CM is utilized in two fashions. In the first, which is used in this analysis, the algorithm follows 320 distinct paths. This method is suitable for cases in which no prio... |

23 |
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Citation Context ...1 Since three parallel vectors intersect in infinity, three parallel joint axes are considered as a set of intersecting joint axes. 35continuation method was first introduced as the Bootstrap method =-=[70]-=-. The continuation method has been responsible for the first solution of many long-standing problems of kinematics. The properties of polynomial systems can be exploited to obtain all the IK solutions... |