Towards a mechatronic compiler

A simultaneous engineering framework for designing optimal mechatronic systems is presented. In the first part of this paper, a method, based on genetic algorithms, for optimizing the geometric configuration of three-axis machine tools in the conceptual design stage is presented. The second part describes a method, based on component mode synthesis, to derive a low-order control model from a finite-element description of the mechanical and drive structures of the mechatronic system. In the third part, motion controllers are derived that are robust against configuration changes of the mechatronic system to be controlled