Dual Performance Optimization of 6-DOF Robotic Arm Trajectories in Biomedical Applications

Abstract

For the first time, dual-performance perfection technologies were used to kinematically operate sophisticated robots. In this study, the trajectory development of a robot arm is optimized using a dual-performance perfection technique. The proposed approach alters the robot arm's Kinematics by creating virtual points even if the robotic system is not redundant to make it kinematically suitable for biomedical applications. In the suggested method, an appropriate objective function is chosen to raise one or maybe more performance measures while lowering one or more kinematic characteristics of a robot arm. The robot arm's end effector is set in place at the crucial locations, and the dual performance precision algorithm changes the joints and virtual points due to the robot arm's self-motion. As a result, the ideal values for the virtual points are established, and the robot arm's design is changed. Accordingly, this method's ability to visualize modifications made to the processor's design during the optimization problem is one of its benefits. The active robotic arm is used as a case study in this article. The task is defined as choosing the best path based on the input target's position and direction and is used in X-ray robot systems. The outcomes demonstrate the viability of the suggested approach and can serve as a useful prototype for an intelligent X-ray robot.

Keywords

• Biomedical Application
• Dual Performance
• Inverse Kinematics
• Optimal Trajectory
• Optimization Problem
• 6-DOF Robotic Arm