Design optimization of robots based on time optimal control

This paper presents design optimization of high speed robots based on time-optimal control. The nonlinear equations of motion dynamics of robots are reformulated using concepts from Riemannian geometry into a simpler form. This form is then used to derive a design criterion whose minimization improves the optimal point-to-point travelling time of the robot. Based on this criterion the design of robots is formulated as a constrained optimization problem. To account for the flexibility of the structure, the eigenfrequencies of a linearized finite element model are also improved optimization techniques. The optimization results are presented that show significantly improved travelling time