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An integrated control-structure design for manipulators with flexible links
Bastos Jr., Guaraci; Bruls, Olivier
2015In IFAC-PapersOnLine, 48 (11), p. 156-161
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Keywords :
Integrated optimization; Optimal control; Multibody systems; flexible manipulators; finite element method; control-structure design
Abstract :
[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
Event date :
June 24-26, 2016
Audience :
International
Journal title :
IFAC-PapersOnLine
ISSN :
2405-8971
eISSN :
2405-8963
Publisher :
Elsevier
Volume :
48
Issue :
11
Pages :
156-161
Peer reviewed :
Peer Reviewed verified by ORBi
Available on ORBi :
since 08 July 2016

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