Abstract—Solid waste selection is a common problem of the cities in emerging economies. In order to overcome this problem, a concept of smart selection of solid waste system has been developed, composed by a transportation system, a sensorial systems and a robotic system for selection of the solid waste. This paper focuses of the robotic system, the aim of this paper being the multi -objective optimization of a parallel robotic system in order to achieve maximal workspace and dexterity. Hence, the paper illustrates a small introduction in the concept of the new solid waste selection system and presents a recent literature review regarding the optimization of robots. Then, the structure and formal analysis of the robotic systems that has application for a smart selection of solid waste. The optimization is carried out using Genetics Algorithms and the objective function of the optimizations that takes into consideration the volume of the constant orientation workspace alongside with the average isotropy index within the workspace.
Index Terms—Robots, optimization, genetic algorithms, workspace, isotropy.
Cătălin Boanta and Cornel Brișan are with the Technical University of Cluj-Napoca, Romania (e-mail boanta_catalin@yahoo.com, cornel.brisan@mdm.utcluj.ro).
[PDF]
Cite: Catalin Boanta and Cornel Brisan, "Optimization of a Robot Used for a Solid Waste Selection System," International Journal of Modeling and Optimization vol. 9, no. 6, pp. 357-361, 2019.
