Abstract—Optimization in Robotics are applied to find the best solution for increasing the 3D space precision, reduce the vibrations, choose the optimal applied base point of the robots to minimize the time of application, finding constructive or functional parameters that ensure reduced energy consumption, reduce the vibration and increase the stability of the movement, choose the optimal variation of the moments in all joints, finally to optimize the dynamic behavior. In the work was developed one proper algorithm to obtain, iteratively the extreme performances to the 3D space trajectory without vibration in the desirable field of the Fourier spectrum. The research show how can be increased the accuracy of the internal coordinate by solving the inverse kinematics with proper method with the goal to touch the extreme precision better than 0.001mm.
Index Terms—Forward kinematics, Inverse kinematics, fourier generator, inverse kinematics, neural network, smart damper system.
A. D. Olaru is with the University Politehnica of Bucharest, RO 0060042 Romania (e-mail: aolaru_51@ymail.com).
S. A. Olaruis is with RomSys Mechatronics Private Company, Bucharest, Ro 013713 Romania (e-mail: serban1978@yahoo.com).
N. C. Mihai is with TechnoAccord Mechatronics Private Company, Montreal, CA 4170, Canada (e-mail: mniculae@yahoo.com).
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Cite: Olaru D. Adrian, Olaru A. Serban, and Mihai C. Niculae, "Some Proper Methods for Optimization in Robotics," International Journal of Modeling and Optimization vol. 7, no. 4, pp. 188-193, 2017.
