Journal
ROBOTICS
Volume 12, Issue 5, Pages -Publisher
MDPI
DOI: 10.3390/robotics12050121
Keywords
underactuated resilient robot; docking system; configuration synthesis; optimization
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This paper develops an underactuated resilient robot that utilizes a combination of passive joints, active joints, adjustable links, and passive links. A novel method based on the genetic algorithm was proposed to determine the goal configuration of a partially damaged robot. The simulation of a 3-DOF robot manipulator illustrates this model.
A resilient robot can recover its original function after partial damage of the system. This paper develops an underactuated resilient robot that utilizes a combination of passive joints, active joints, adjustable links, and passive links. A novel method based on the genetic algorithm was proposed to determine the goal configuration of a partially damaged robot. The novelty of the method lies in the integration of both discrete and continuous variables. This model is illustrated by a 3-DOF robot manipulator in the simulation.
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