SciELO - Scientific Electronic Library Online

vol.11 issue21Linear Regression with Errors not Normal: Generalized Hyperbolic SecantAn Architecture for the Conceptual Design of Underwater Exploration Vehicles author indexsubject indexarticles search
Home Pagealphabetic serial listing  

Services on Demand



Related links

  • On index processCited by Google
  • Have no similar articlesSimilars in SciELO
  • On index processSimilars in Google


Ingeniería y Ciencia

Print version ISSN 1794-9165


RAMIREZ HENAO, Juan Camilo  and  DUQUE MUNOZ, Leonardo. Optimization of Manipulability and Electricity Consumption Through the Heuristic Kalman Algorithm in Serial Manipulators. ing.cienc. [online]. 2015, vol.11, n.21, pp.51-71. ISSN 1794-9165.

In the present work a path planning methodology for serial anthropomorphic manipulator with six degrees of freedom with spherical wrist focused on minimizing power consumption and maximizing the manipulability is proposed. To achieve this end, an optimization algorithm is developed which is based on the Heuristic Kalman Algorithm (HKA), and aims to find the optimal path according to the proposed multi-objective function within a proposed simplified spherical space. The optimization algorithm is evaluated by analyzing the behavior of two paths in the PUMA 560 robot, simulated in a program developed in Visual Basic belongs to Autodesk Inventor software.

Keywords : path planning; robotics; multi-criteria optimization; heuristic algorithm; manipulability; electric consumption.

        · abstract in Spanish     · text in Spanish     · Spanish ( pdf )