[en] Integrated optimization techniques for mechatronic systems aim at designing simultaneously the trajectory, the control system and the mechanical structure in order to minimize a performance index. The key advantage of such an integrated approach is the capability to search in a wide design space, to account for many dynamic couplings in an early design stage and to avoid simplifying assumptions which would induce a suboptimal design. This work considers that technique for robotic manipulators with flexible links. It is known that a exible multibody system is often non-minimum phase, here, no restriction is imposed to avoid it. This allows a free choice of the optimization process to select a lighter weight controlled system. Furthermore, the amplitudes of the non-actuated degrees-of-freedom should be reduced in order to limit bodies deformation. The mechanical model is derived using a nonlinear finite element method, which is a useful approach to represent systems with elastic bodies. An optimal control problem is considered to perform that integrated analysis and its time dicretization relies the direct transcription method.
Disciplines :
Mechanical engineering
Author, co-author :
Bastos Jr., Guaraci; Federal University of Pernambuco > Mechanical Engineering
Bruls, Olivier ; Université de Liège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Language :
English
Title :
An integrated control-structure design for manipulators with flexible links
Publication date :
2015
Event name :
1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2015
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