TY  - JOUR
T1  - Optimizing Heuristic Graph Formation with Application in Kinematic
Synthesis of a Robot Arm with Revolute Joints
AU - Mahmood Badr Ali, Doaa AU - Nasir Ghafil, Hazim AU - Jarmai, Karoly 
JO  - Journal of Engineering and Applied Sciences
VL  - 14
IS  - 6
SP  - 1976
EP  - 1984
PY  - 2019
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2019.1976.1984
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2019.1976.1984
KW  - Optimization
KW  -graph theory
KW  -ant colony system
KW  -kinematic synthesis
KW  -robotics
KW  -graph theory
toolbox
AB  - Automated kinematic synthesis is still a raw material and researchers have to research more in this
critical stage of the design process. Graph theory intensively has used in this field of science but in this study,
it has been used in a very different way to present a new, simple, abstract and automated method to construct
optimum kinematic synthesis for a robot. The new presented method is intended for robot manipulator with
revolute joints and it is based on the heuristic graph formation principle. In this research, ant colony
optimization algorithm and graph theory toolbox have introduced as tools to improve the heuristic path or graph
before mapping to the equivalent kinematic synthesis of the robot. Two practical examples were presented to
prove the efficiency of the new method.
ER  -