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Erschienen in:
2017 | OriginalPaper | Buchkapitel
Collaborative Optimization of Robot’s Mechanical Structure and Control System Parameter
verfasst von : Yuanchao Cheng, Ke Li, Fan Yang, Songbo Deng, Yuanyuan Chang, Yanbo Wang, Xuman Zhang
Erschienen in: Intelligent Robotics and Applications
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Abstract
In this paper, an inverse kinematics analysis algorithm of a robot is proposed based on the analysis of the configuration and kinematics of the robot. With the inverse kinematics method, the working path of the robot’s joints is planned. Based on multi-body dynamics, finite element analysis, topology optimization and PID control, using co-simulation, this paper presents the method including Structural Optimization, Mechanical System Optimization and Controller Optimization. The main bearing part (large arm) is selected as the optimization object, in order to improve the repeated positioning accuracy of the robotic robot and verify the collaborative optimization methods, the effectiveness of the method is improved by comparing the error of the end position with the same working path by comparing the robotic system before and after the collaborative optimization.