An integrated control-structure design for manipulators with flexible links. Issue 11 (2015)

• Record Type: Journal Article
• Authors: Bastos, Guaraci; Brüls, Olivier
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 11(2015)
• Page Start: 156
• Page End: 161
• Publication Date: 2015
• Subjects: Integrated optimization -- optimal control -- multibody systems -- flexible manipulators -- finite element method -- control-structure design; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.09.176
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: 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 flexible 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.