Multidisciplinary optimization of servodrives for robot manipulators

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.

[1]  Miguel G. Villarreal-Cervantes,et al.  Robust Structure-Control Design Approach for Mechatronic Systems , 2013, IEEE/ASME Transactions on Mechatronics.

[2]  Giancarlo Cusimano.  Influence of the reducer efficiencies on the choice of motor and transmission: Torque peak of the motor , 2013 .

[3]  Youxin Luo,et al.  Differential Evolution Algorithm with Hybrid Discrete Variables and its Application to Mechanical Optimization , 2012 .

[4]  A. Galip Ulsoy,et al.  Control proxy functions for sequential design and control optimization , 2011 .

[5]  Michael R. Hansen,et al.  Integrated design optimization of a 5-DOF assistive light-weight anthropomorphic arm , 2011, 2011 15th International Conference on Advanced Robotics (ICAR).

[6]  H Grotstollen.  Optimal Design of Motor and Gear for Drives With High Acceleration by Consideration of Torque–Speed and Torque–Acceleration Product , 2011, IEEE Transactions on Industry Applications.

[7]  G. K. Mahanti,et al.  A comparative study of Modified Particle Swarm Optimization, Differential Evolution and Artificial Bees Colony optimization in synthesis of circular array , 2010, 2010 International Conference on Power, Control and Embedded Systems.

[8]  Marcus Pettersson,et al.  Drive Train Optimization for Industrial Robots , 2009, IEEE Transactions on Robotics.

[9]  Hong-Sen Yan,et al.  Integrated control and mechanism design for the variable input-speed servo four-bar linkages , 2009 .

[10]  Jan Wikander,et al.  Optimal selection of motor and gearhead in mechatronic applications , 2006 .

[11]  René Thomsen,et al.  A comparative study of differential evolution, particle swarm optimization, and evolutionary algorithms on numerical benchmark problems , 2004, Proceedings of the 2004 Congress on Evolutionary Computation (IEEE Cat. No.04TH8753).

[12]  Ronnie Belmans,et al.  An efficient procedure for checking performance limits in servo drive selection and optimization , 1999 .

[13]  Ronnie Belmans,et al.  Servo motor selection criterion for mechatronic applications , 1998 .

[14]  Kamal Youcef-Toumi,et al.  Modeling, design, and control integration: a necessary step in mechatronics , 1996 .

[15]  Rolf Isermann,et al.  Modeling and design methodology for mechatronic systems , 1996 .

[16]  Jahng-Hyon Park,et al.  Concurrent Design Optimization of Mechanical Structure and Control for High Speed Robots , 1993, 1993 American Control Conference.

[17]  W. Belvin,et al.  Structural tailoring and feedback control synthesis - An interdisciplinary approach , 1988 .

[18]  Andrzej Osyczka,et al.  Multicriterion optimization in engineering with FORTRAN programs , 1984 .