Analysis of Optimal Balancing of Robot Manipulators in Repetitive Motions

[+] Author and Article Information
Amin Nikoobin

Robotics and Control Lab, Faculty of Mechanical Engineering, Semnan University, Semnan, Iran

Mojtaba Moradi

Faculty of Computer and Electrical Engineering, Semnan University, Semnan, Iran

1Corresponding author.

ASME doi:10.1115/1.4039155 History: Received January 18, 2017; Revised December 13, 2017


Balancing plays a major role in performance improvement of robotic manipulators. From an optimization point of view, some balancing parameters can be modified to decrease motion cost. Recently introduced, this concept is called optimal balancing: an umbrella term for static balancing and other balancing methods. In this method, the best combination of balancing and trajectory planning is sought. In this note, repetitive full cycle motion of robot manipulators including different subtasks are considered. The basic idea arises from the fact that, upon changing dynamic equations of a robotic manipulator or cost functions in subtasks, the entire cycle of motion must be reconsidered in an optimal balancing problem. The possibility of cost reduction for a closed contour in potential fields is shown by some simulations done for a PUMA-like robot. Also, the obtained results show 34.8% cost reduction compared to that of static balancing.

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