Title :
Integrated structure/control design of a two-link nonrigid robot arm for high-speed positioning
Author :
Park, Jahng-Hyon ; Asada, Haruhiko
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
An integrated approach to the concurrent design of arm structure and control is presented. To achieve high-speed positioning, a technique is developed in which comprehensive design parameters describing arm link geometry, actuator locations, and feedback gains are optimized with respect to the settling time of the system. First, a two-link, nonrigid arm is analyzed, and a simple dynamic model representing rapid positioning processes is obtained. A PD control system is designed for the dynamic model. Optimal feedback gains minimizing the settling time are obtained as functions of structural parameters involved in the dynamic model. The structural parameters are then optimized by using an optimization technique in order to obtain an overall optimal performance. The resultant arm design shows an outstanding performance, which is unattainable if the structure and control are designed separately
Keywords :
distributed parameter systems; large-scale systems; robots; two-term control; PD control system; actuator locations; arm link geometry; concurrent design; feedback gains; high-speed positioning; integrated structure/control design; two-link nonrigid robot arm; Actuators; Control design; Control systems; Design methodology; Design optimization; Feedback; Manipulators; Optimal control; Robotic assembly; Robots;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220281