NDLI: Optimal design of dynamic and control performance for planar manipulator

Content Provider	Springer Nature Link
Author	You, Wei Kong, Min xiu Sun, Li ning Du, Zhi jiang
Copyright Year	2012
Abstract	k]A design and optimization approach of dynamic and control performance for a two-DOF planar manipulator was proposed. After the kinematic and dynamic analysis, several advantages of the mechanism were illustrated, which made it possible to obtain good dynamic and control performances just through mechanism optimization. Based on the idea of design for control (DFC), a novel kind of multi-objective optimization model was proposed. There were three optimization objectives: the index of inertia, the index describing the dynamic coupling effects and the global condition number. Other indexes to characterize the designing requirements such as the velocity of end-effector, the workspace size, and the first mode natural frequency were regarded as the constraints. The cross-section area and length of the linkages were chosen as the design variables. NSGA-II algorithm was introduced to solve this complex multi-objective optimization problem. Additional criteria from engineering experience were incorporated into the selecting of final parameters among the obtained Pareto solution sets. Finally, experiments were performed to validate the linear dynamic structure and control performances of the optimized mechanisms. A new expression for measuring the dynamic coupling degree with clear physical meaning was proposed. The results show that the optimized mechanism has an approximate decoupled dynamics structure, and each active joint can be regarded as a linear SISO system. The control performances of the linear and nonlinear controllers were also compared. It can be concluded that the optimized mechanism can achieve good control performance only using a linear controller.
Starting Page	108
Ending Page	116
Page Count	9
File Format	PDF
ISSN	20952899
Journal	Journal of Central South University of Technology
Volume Number	19
Issue Number	1
e-ISSN	22275223
Language	English
Publisher	Central South University
Publisher Date	2012-01-05
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	mechanism optimization dynamic optimization design for control multi-objective optimization Metallic Materials Engineering
Content Type	Text
Resource Type	Article
Subject	Metals and Alloys Engineering

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