Robotic synthesis using a hierarchical multi-objective evolutionary algorithm

This paper addresses the robotic manipulator synthesis problem considering multiple design criteria simultaneously. This is a complex problem suitable for the application of multi-objective genetic algorithms. Thus, an hierarchical multi-objective genetic algorithm is proposed to generate a robot structure and corresponding manipulating trajectories. The design aim is to minimize the trajectory space ripple, the initial and final torques while optimizing the mechanical structure. Simulation results are presented concerning the solution of a structure synthesis problem with the optimization of three objectives.N/