Document Type : Original Research Paper


Shahid Rajaee Teacher Training University


Background and Objectives: This paper presents a new optimization problem in the field of linkage reconfiguration. This is the problem of minimizing moving parts of a given robot arm for positioning the end effector of the given robot arm at the given target point as well as minimizing the movement of the movable parts.
Methods: Initially, formal modeling is accomplished by minimizing the movement problem. At this time, a criterion called AM (Arithmetic Measure) is introduced, and this criterion is used to quantify the motion of the linkage. Afterward, it is indicated that the presented problem is an NP-Hard problem. Consequently, a greedy heuristic algorithm is presented to minimize the movement of the robot's moving components. After identifying the moving components and the movement of these parts, an algorithm is provided to determine the final configuration of the robot arm.
Results: The results indicate that the discussed model successfully reduced the moving parts of the robot arm. Moreover, the results show that the proposed approach fulfills the goal of minimization of the linkage components. Furthermore, this method leads to erosion of arm, reduces energy consumption and the required parameters and variables for calculating the final configuration of the linkages.
Conclusion: The mentioned algorithm solves the problem by mapping the robot arm with an arbitrary number of links to a robot with a single link or two links. The proposed heuristic approach requires O(n2) time using O(n) space.

©2018 The author(s). This is an open access article distributed under the terms of the Creative Commons Attribution (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, as long as the original authors and source are cited. No permission is required from the authors or the publishers.


Main Subjects


Journal of Electrical and Computer Engineering Innovations (JECEI) welcomes letters to the editor for the post-publication discussions and corrections which allows debate post publication on its site, through the Letters to Editor. Letters pertaining to manuscript published in JECEI should be sent to the editorial office of JECEI within three months of either online publication or before printed publication, except for critiques of original research. Following points are to be considering before sending the letters (comments) to the editor.

[1] Letters that include statements of statistics, facts, research, or theories should include appropriate references, although more than three are discouraged.

[2] Letters that are personal attacks on an author rather than thoughtful criticism of the author’s ideas will not be considered for publication.

[3] Letters can be no more than 300 words in length.

[4] Letter writers should include a statement at the beginning of the letter stating that it is being submitted either for publication or not.

[5] Anonymous letters will not be considered.

[6] Letter writers must include their city and state of residence or work.

[7] Letters will be edited for clarity and length.