000021274 001__ 21274
000021274 005__ 20170522124346.0
000021274 04107 $$aeng
000021274 046__ $$k2017-05-15
000021274 100__ $$aCekus, D.
000021274 24500 $$aTHE INFLUENCE OF THE LENGTH OF TRAJECTORY OF SCARA MANIPULATOR DUTY CYCLE ON ELECTRICITY CONSUMPTION

000021274 24630 $$n23.$$pEngineering Mechanics 2017
000021274 260__ $$bBrno University of Technology, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno
000021274 506__ $$arestricted
000021274 520__ $$2eng$$aThe paper presents the using of Particle Swarm Optimization (PSO) method to determine the shortest trajectory of the end-effector of SCARA manipulator. It has been assumed that the obstacles occur in the workspace, but the transfer above them is impossible, therefore the problem is considered in twodimensional space. In the PSO algorithm the impact of the inertia weight of the length of the searched minimal trajectory has been shown. For found out trajectory the electricity consumption required to execute a duty cycle of SCARA manipulator has been determined. Only theoretical considerations were conducted.

000021274 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000021274 653__ $$aPSO, SCARA, Manipulator, Optimization, Electricity consumption.

000021274 7112_ $$aEngineering Mechanics 2017$$cSvratka, CZ$$d2017-05-15 / 2017-05-18$$gEM2017
000021274 720__ $$aCekus, D.$$iSkrobek, D.
000021274 8560_ $$ffischerc@itam.cas.cz
000021274 8564_ $$s949195$$uhttps://invenio.itam.cas.cz/record/21274/files/0238.pdf$$yOriginal version of the author's contribution in proceedings, page 238, section MCT.
000021274 962__ $$r21225
000021274 980__ $$aPAPER