Multidisciplinary optimization of servodrives for robot manipulators

Author

Citalan-Lara, Roger ; Cruz-Villar, Carlos A.

Author_Institution

Electr. Eng. Dept., CINVESTA-V-IPN, Mexico City, Mexico

fYear

2014

fDate

8-11 July 2014

Firstpage

38

Lastpage

43

Abstract

In this paper, a multiobjective optimization approach for designing a Manipulator Robot by simultaneously considering the mechanism, the controller and the servo drive subsystems is proposed. The integrated design problem is considered as a nonlinear multiobjective dynamic optimization problem, which relates the structural parameters, the robot controller and the selection of the ratio gear-motor from an industry catalog. A three dof manipulator robot and its controller are designed, where the performance design objectives are tracking error, manipulability measure and energy consumption.

Keywords

control system synthesis; drives; dynamic programming; gears; manipulators; nonlinear programming; servomechanisms; controller design; energy consumption; manipulability measure; multidisciplinary optimization; nonlinear multiobjective dynamic optimization problem; performance design objectives; ratio gear-motor selection; robot controller; robot manipulator design; servodrives; structural parameters; tracking error; Brushless motors; Optimization; Permanent magnet motors; Service robots; Servomotors; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on

Conference_Location

Besacon

Type

conf

DOI

10.1109/AIM.2014.6878043

Filename

6878043