GlobDesOpt: A Global Optimization Framework for Optimal Robot Manipulator Design

Robot design is a major component in robotics, as it allows building robots capable of performing properly given tasks. However, designing robot with multiple types parameters and constraints defining an optimization function analytically for the problem may be intractable or even impossible. Therefore black-box approaches are generally preferred. In this work we propose GlobDesOpt, simple-to-use open-source framework based on global methods. The selecting various optimizing both single dual-arm robots. functionalities shown here to optimally surgical robot, comparing different two strategies.