Robot Tutucu Problemi için Çok Stratejili Aritmetik Optimizasyon Algoritması

Year 2024, Volume: 12 Issue: 1, 108 - 116, 25.03.2024

Mustafa Yusuf Yıldırım Rüştü Akay

https://doi.org/10.29109/gujsc.1383797

Abstract

Günümüzde endüstriyel sistemlerde nesnelerin kavranması, taşınması ve sabitlenmesi için kullanılan robot tutucular önemli araçlar olarak öne çıkmaktadır. Özellikle robotik sistemlerde, bir nesneyi en az manevrayla zarar vermeden tutabilme yeteneği büyük önem taşımaktadır. Bundan dolayı, son yıllarda robot tutucularının tasarım optimizasyonu ilgi çeken bir araştırma konusu haline gelmiştir. Bu çalışmada bu tasarım problemi için aritmetik optimizasyon algoritması (AOA) iyileştirilmiş ve çok stratejili aritmetik optimizasyon algoritması (ÇSAOA) adında yeni bir algoritma önerilmiştir. Bu algoritmada hem orijinal AOA’nın güncelleme mekanizmasını modifiye edilmiş, hem de farklı bir güncelleme mekanizması eklenilerek kendinden uyarlanabilen bir algoritma haline getirilmiştir. Bu yaklaşım, en iyi güncelleme stratejisine odaklanarak problemi daha verimli bir şekilde çözmeye olanak sağlamıştır. ÇSAOA, robot tutucu problemine uygulandığında, orijinal algoritmaya göre hem performans hem de hesaplama süresi açısından daha iyi sonuçlar ürettiği gözlemlenmiştir. Ayrıca, bu yeni algoritma literatürdeki diğer benzer algoritmalarla karşılaştırılmış ve önerilen ÇSAOA’nın daha performanslı algoritma olduğu görülmüştür.

Keywords

Robot Tutucu, Aritmatik, Optimizasyon, Çoklu Strateji, Metasegisel

Supporting Institution

Erciyes Üniversitesi Bilimsel Araştırma Projeleri

Project Number

FDK-2021-11472

Thanks

Bu çalışma "Erciyes Üniversitesi Bilimsel Araştırma Projeleri" programı kapsamında FDK-2021-11472 proje numarası ile desteklenmiştir.

Multi-Strategy Arithmetic Optimization Algorithm for Robot Gripper Problem

Abstract

Today, robot grippers used for grasping, moving and fixing objects in industrial systems stand out as important tools. Especially in robotic systems, the ability to hold an object without damaging it with minimal maneuvering is of great importance. Therefore, the design optimization of robot grippers has become an interesting research topic in recent years. In this study, Arithmetic Optimization Algorithm (AOA) has been improved for this design problem and a new algorithm called Multi-Strategy Arithmetic Optimization Algorithm (MSAOA) has been proposed. In this algorithm, the update mechanism of original AOA was modified and a different update mechanism was added, making it a self-adaptive algorithm. This approach allowed solving the problem more efficiently by focusing on the best update strategy. When MSAOA was applied to the robot gripper problem, it was observed that it produced better results in terms of both performance and calculation time compared to the original algorithm. Additionally, this new algorithm was compared with other similar algorithms in the literature and it was found that the proposed MSAOA was the most performant algorithm.

Keywords

Robot Gripper, Arithmetic, Optimization, Multi-Strategy, Metaheuristic

Project Number

FDK-2021-11472

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