Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots

Anselmo Rafael Cukla, Rafael Crespo Izquierdo, Eduardo André Perondi, Mario Roland Sobczyk, Flavio José Lorini, José Barata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

One of the main goals of modern manufacturing systems lies in attaining more flexibility and reutilization capabilities with lower costs. This paper presents the development of a proposal for the design and development of mechatronic modules to use on the mounting of robot manipulators based on the concept of "agent", which is largely employed in informatics systems. We first describe the main features of this research project, after focusing on its current development stage, which regards the conception of a general methodology for trajectory planning of modular robotic systems. The proposed solution is evaluated and validated by means of a case study focused on robots with pneumatic actuators. In this case study, the structure of a modular pneumatic Cartesian robot and its main characteristics (kinematic chain, workspace, etc.) is developed under modular agent concepts. Using a proposed task to be performed by the manipulator, a working path is defined by means of cubic spline interpolation curves, and an objective function for the optimization problem is written so as to minimize the movement time between the beginning and the end of the trajectory. The proposed optimization problem is numerically solved based on the use of the Firefly Metaheuristic Algorithm and, finally, the trajectory planning curves obtained by means of this strategy are presented and discussed.
Original languageEnglish
Title of host publicationFPNI 2016 - 9th FPNI Ph D Symposium on Fluid Power
Place of Publication9th FPNI Ph.D. Symposium on Fluid Power
PublisherASME
ISBN (Print)978-0-7918-5047-3
DOIs
Publication statusPublished - 2017

Fingerprint

Modular robots
Trajectories
Robots
Planning
Manipulators
Pneumatic actuators
Mechatronics
Mountings
Splines
Pneumatics
Interpolation
Kinematics
Robotics
Costs

Keywords

  • Bioluminescence
  • Curve fitting
  • Interpolation
  • Kinematics
  • Machine design
  • Manipulators
  • Manufacture
  • Modular robots
  • Optimization
  • Pneumatic actuators
  • Pneumatics
  • Robot applications
  • Robots
  • Trajectories

Cite this

Cukla, A. R., Crespo Izquierdo, R., Perondi, E. A., Sobczyk, M. R., Lorini, F. J., & Barata, J. (2017). Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots. In FPNI 2016 - 9th FPNI Ph D Symposium on Fluid Power [UNSP V001T01A035] 9th FPNI Ph.D. Symposium on Fluid Power: ASME. https://doi.org/10.1115/FPNI2016-1556
Cukla, Anselmo Rafael ; Crespo Izquierdo, Rafael ; Perondi, Eduardo André ; Sobczyk, Mario Roland ; Lorini, Flavio José ; Barata, José. / Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots. FPNI 2016 - 9th FPNI Ph D Symposium on Fluid Power. 9th FPNI Ph.D. Symposium on Fluid Power : ASME, 2017.
@inproceedings{e2b6968990014ff5ae0939bc0eb40dad,
title = "Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots",
abstract = "One of the main goals of modern manufacturing systems lies in attaining more flexibility and reutilization capabilities with lower costs. This paper presents the development of a proposal for the design and development of mechatronic modules to use on the mounting of robot manipulators based on the concept of {"}agent{"}, which is largely employed in informatics systems. We first describe the main features of this research project, after focusing on its current development stage, which regards the conception of a general methodology for trajectory planning of modular robotic systems. The proposed solution is evaluated and validated by means of a case study focused on robots with pneumatic actuators. In this case study, the structure of a modular pneumatic Cartesian robot and its main characteristics (kinematic chain, workspace, etc.) is developed under modular agent concepts. Using a proposed task to be performed by the manipulator, a working path is defined by means of cubic spline interpolation curves, and an objective function for the optimization problem is written so as to minimize the movement time between the beginning and the end of the trajectory. The proposed optimization problem is numerically solved based on the use of the Firefly Metaheuristic Algorithm and, finally, the trajectory planning curves obtained by means of this strategy are presented and discussed.",
keywords = "Bioluminescence, Curve fitting, Interpolation, Kinematics, Machine design, Manipulators, Manufacture, Modular robots, Optimization, Pneumatic actuators, Pneumatics, Robot applications, Robots, Trajectories",
author = "Cukla, {Anselmo Rafael} and {Crespo Izquierdo}, Rafael and Perondi, {Eduardo Andr{\'e}} and Sobczyk, {Mario Roland} and Lorini, {Flavio Jos{\'e}} and Jos{\'e} Barata",
note = "Sem PDF.",
year = "2017",
doi = "10.1115/FPNI2016-1556",
language = "English",
isbn = "978-0-7918-5047-3",
booktitle = "FPNI 2016 - 9th FPNI Ph D Symposium on Fluid Power",
publisher = "ASME",

}

Cukla, AR, Crespo Izquierdo, R, Perondi, EA, Sobczyk, MR, Lorini, FJ & Barata, J 2017, Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots. in FPNI 2016 - 9th FPNI Ph D Symposium on Fluid Power., UNSP V001T01A035, ASME, 9th FPNI Ph.D. Symposium on Fluid Power. https://doi.org/10.1115/FPNI2016-1556

Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots. / Cukla, Anselmo Rafael; Crespo Izquierdo, Rafael; Perondi, Eduardo André; Sobczyk, Mario Roland; Lorini, Flavio José; Barata, José.

FPNI 2016 - 9th FPNI Ph D Symposium on Fluid Power. 9th FPNI Ph.D. Symposium on Fluid Power : ASME, 2017. UNSP V001T01A035.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots

AU - Cukla, Anselmo Rafael

AU - Crespo Izquierdo, Rafael

AU - Perondi, Eduardo André

AU - Sobczyk, Mario Roland

AU - Lorini, Flavio José

AU - Barata, José

N1 - Sem PDF.

PY - 2017

Y1 - 2017

N2 - One of the main goals of modern manufacturing systems lies in attaining more flexibility and reutilization capabilities with lower costs. This paper presents the development of a proposal for the design and development of mechatronic modules to use on the mounting of robot manipulators based on the concept of "agent", which is largely employed in informatics systems. We first describe the main features of this research project, after focusing on its current development stage, which regards the conception of a general methodology for trajectory planning of modular robotic systems. The proposed solution is evaluated and validated by means of a case study focused on robots with pneumatic actuators. In this case study, the structure of a modular pneumatic Cartesian robot and its main characteristics (kinematic chain, workspace, etc.) is developed under modular agent concepts. Using a proposed task to be performed by the manipulator, a working path is defined by means of cubic spline interpolation curves, and an objective function for the optimization problem is written so as to minimize the movement time between the beginning and the end of the trajectory. The proposed optimization problem is numerically solved based on the use of the Firefly Metaheuristic Algorithm and, finally, the trajectory planning curves obtained by means of this strategy are presented and discussed.

AB - One of the main goals of modern manufacturing systems lies in attaining more flexibility and reutilization capabilities with lower costs. This paper presents the development of a proposal for the design and development of mechatronic modules to use on the mounting of robot manipulators based on the concept of "agent", which is largely employed in informatics systems. We first describe the main features of this research project, after focusing on its current development stage, which regards the conception of a general methodology for trajectory planning of modular robotic systems. The proposed solution is evaluated and validated by means of a case study focused on robots with pneumatic actuators. In this case study, the structure of a modular pneumatic Cartesian robot and its main characteristics (kinematic chain, workspace, etc.) is developed under modular agent concepts. Using a proposed task to be performed by the manipulator, a working path is defined by means of cubic spline interpolation curves, and an objective function for the optimization problem is written so as to minimize the movement time between the beginning and the end of the trajectory. The proposed optimization problem is numerically solved based on the use of the Firefly Metaheuristic Algorithm and, finally, the trajectory planning curves obtained by means of this strategy are presented and discussed.

KW - Bioluminescence

KW - Curve fitting

KW - Interpolation

KW - Kinematics

KW - Machine design

KW - Manipulators

KW - Manufacture

KW - Modular robots

KW - Optimization

KW - Pneumatic actuators

KW - Pneumatics

KW - Robot applications

KW - Robots

KW - Trajectories

U2 - 10.1115/FPNI2016-1556

DO - 10.1115/FPNI2016-1556

M3 - Conference contribution

SN - 978-0-7918-5047-3

BT - FPNI 2016 - 9th FPNI Ph D Symposium on Fluid Power

PB - ASME

CY - 9th FPNI Ph.D. Symposium on Fluid Power

ER -

Cukla AR, Crespo Izquierdo R, Perondi EA, Sobczyk MR, Lorini FJ, Barata J. Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots. In FPNI 2016 - 9th FPNI Ph D Symposium on Fluid Power. 9th FPNI Ph.D. Symposium on Fluid Power: ASME. 2017. UNSP V001T01A035 https://doi.org/10.1115/FPNI2016-1556