Abstract
In this work we present an optimal design for a type of serial link manipulators based on multi objective optimization. The objective functions considered are Global Conditioning index (GCI) and workspace volume, the first indice is based on condition number of robot manipulator Jacobian matrix and the objective functions are optimized simultaneously to improve the dexterity as well as the workspace volume which represents the working capacity.
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Baghli, F. Z., El Bakkali, L., & Hamdoun, O. (2016). Parametric design optimization of two link robotic manipulator. In Mechanisms and Machine Science (Vol. 37, pp. 25–32). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-22368-1_3
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