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Advisor(s)
Abstract(s)
Robotic manipulator synthesis considering the simultaneous optimization of several design objectives is a NP-hard problem. This paper proposes a hierarchical multi-objective genetic algorithm to generate a robot structure and the required manipulating trajectories. The aim is to minimize the trajectory space ripple, the initial and final binary torques, while optimizing the mechanical structure. Simulations results are presented from solving a structure synthesis problem which considers the optimization of three simultaneous objectives.