NDLI: Optimal design of parallel manipulators via LMI approach

Content Provider	IEEE Xplore Digital Library
Author	Lou, Y.J. Liu, G.F. Li, Z.X.
Copyright Year	2003
Description	Author affiliation: Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., China (Lou, Y.J.; Liu, G.F.; Li, Z.X.)
Abstract	This paper deals with the problem of optimal design of parallel manipulators which are singularityless, of high stiffness and manipulability and the most economic. By observing that those requirements can be cast into Linear Matrix Inequalities (LMIs), we formulate the design problem as a convex optimization problem subject to LMIs with either a linear function or a max-det function as its objective function. The variables x associated with LMIs are nonlinear functions of some key kinematic parameters /spl alpha/. If the dimension of x, t, is equal to the number of kinematic parameters, l/sub 0/, a two-level algorithm can be applied to solve for a set of optimal kinematic parameters: (1) Applying the interior point algorithm for solving of x; (2) Applying Newton method to a set of nonlinear algebraic equations for solving of /spl alpha/. If the dimension of x is greater than the number of kinematic parameters (i.e., x are not linearly independent), we consider the constrained semi-definite programming problems and the constrained max-det problems by taking account of an additional set of nonlinear constraints. We propose a simplified constrained gradient algorithm for solving of x in such cases, /spl alpha/ derives from x using Newton method. Simulation results verify the effectiveness of the proposed algorithms.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	1869
Ending Page	1874
File Size	368410
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241867
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Design optimization Newton method Design engineering Paper technology Linear matrix inequalities Nonlinear equations Linear programming Robot kinematics Parallel robots
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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