论文信息 - Task-Based Optimal Manipulator / Controller Design using Evolutionary Algorithms

Task-Based Optimal Manipulator / Controller Design using Evolutionary Algorithms

A design methodology, based on evolutionary algorithms, fo r simultaneously optimizing the topology and the parameters of a serial robot mani pulator along with the required feedback control laws for performing specified tas ks i presented. Dynamic performance measures, for the closed-loop system, are opti mized by considering a nonlinear PD controller for an end-effector tracking probl em. Results of the simultaneous design optimization involving the topology of a pla nar manipulator, joint motors, kinematic, inertial and control parameters as desi gn variables illustrate the efficacy of the methodology.

G. R. Heppler | T. Ravichandran | D. W. L. Wang

[1] Brad Paden,et al. Globally asymptotically stable ‘PD+’ controller for robot manipulators , 1988 .

[2] Long Chen,et al. Design for control: A concurrent engineering approach for mechatronic systems design , 2001 .

[3] Mark W. Spong,et al. Robot dynamics and control , 1989 .

[4] T. Ravichandran,et al. Stability Analysis of a Class of Nonlinear Controllers , 2003 .

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

[6] Ricardo O. Carelli,et al. A class of nonlinear PD-type controllers for robot manipulators , 1996, J. Field Robotics.

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

[8] T. Ravichandran,et al. Stability and robustness of a class of nonlinear controllers for robot manipulators , 2004, Proceedings of the 2004 American Control Conference.

[9] J. S. Rastegar,et al. Task-specific optimal simultaneous kinematic, dynamic, and control design of high-performance robotic systems , 1999 .

[10] D. Fogel. Evolutionary algorithms in theory and practice , 1997, Complex..