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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Integrated Structure and Control Design for a Flexible Planar Manipulator
verfasst von : Yunjiang Lou, Yongsheng Zhang, Ruining Huang, Zexiang Li
Erschienen in: Intelligent Robotics and Applications
Verlag: Springer Berlin Heidelberg
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Modern industries impose increasingly stringent performance requirements on equipments with very high acceleration and high precision. The integrated design method was proposed as a preferable technique to the traditional one. In this paper, a general framework of the integrated design for a parallel flexible planar linkage is presented. The dynamic model for a multi-link planar linkage with closed chains is derived by the finite element method. The proportional-derivative control strategy is applied in the closed-loop control system. The control parameters and structural parameters are optimized simultaneously by solving the integrated design problem. The differential evolution algorithm, a fast global optimization technique, is used to solve the optimal design problem. Simulation shows the integrated design method gives an over 20% improvement in settling time.