On the closed-loop design of flexible robotic links

Author

Zhou, P.X. ; Williams, M.S. ; Wang, Fei-Yue

Author_Institution

Dept. of Syst. & Ind. Eng., Arizona Univ., Tucson, AZ, USA

Volume

3

fYear

1996

fDate

14-17 Oct 1996

Firstpage

1712

Abstract

The problem of optimal design of a flexible manipulator link based on its closed-loop transfer function is formulated through the integation of actuator dynamics, control algorithm, sensor location, and mechanics of arm construction. By approximating a flexible link with N small uniform segments, we obtain analytical segmentized solutions for transfer functions for integrated arm systems. This enable us to formulate various optimization problems with explicit objective functions. Several optimization criteria are discussed in this paper

Keywords

closed loop systems; flexible structures; manipulator dynamics; optimisation; transfer functions; actuator dynamics; analytical segmentized solutions; arm construction mechanics; closed-loop design; closed-loop transfer function; control algorithm; flexible robotic links; optimal design; sensor location; transfer functions; uniform segments; Actuators; Control systems; Heuristic algorithms; Intelligent robots; Manipulator dynamics; Optimal control; Orbital robotics; Robotics and automation; Service robots; Structural beams;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1996., IEEE International Conference on

Conference_Location

Beijing

ISSN

1062-922X

Print_ISBN

0-7803-3280-6

Type

conf

DOI

10.1109/ICSMC.1996.565362

Filename

565362