Title :
On the closed-loop design of flexible robotic links
Author :
Zhou, P.X. ; Williams, M.S. ; Wang, Fei-Yue
Author_Institution :
Dept. of Syst. & Ind. Eng., Arizona Univ., Tucson, AZ, USA
Abstract :
The problem of optimal design of a flexible manipulator link based on its closed-loop transfer function is formulated through the integation of actuator dynamics, control algorithm, sensor location, and mechanics of arm construction. By approximating a flexible link with N small uniform segments, we obtain analytical segmentized solutions for transfer functions for integrated arm systems. This enable us to formulate various optimization problems with explicit objective functions. Several optimization criteria are discussed in this paper
Keywords :
closed loop systems; flexible structures; manipulator dynamics; optimisation; transfer functions; actuator dynamics; analytical segmentized solutions; arm construction mechanics; closed-loop design; closed-loop transfer function; control algorithm; flexible robotic links; optimal design; sensor location; transfer functions; uniform segments; Actuators; Control systems; Heuristic algorithms; Intelligent robots; Manipulator dynamics; Optimal control; Orbital robotics; Robotics and automation; Service robots; Structural beams;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.565362
