Concurrent redesign of an underactuated robot manipulator

Carlos A. Cruz-Villar; Jaime Alvarez-Gallegos; Miguel G. Villarreal-Cervantes

doi:10.1016/j.mechatronics.2008.09.002

Concurrent redesign of an underactuated robot manipulator

Carlos A. Cruz-Villar, Jaime Alvarez-Gallegos, Miguel G. Villarreal-Cervantes

Research output: Contribution to journal › Article › peer-review

21 Scopus citations

Abstract

An interesting problem in robotics is to minimize the required time to force a manipulator to travel between two specific points (positioning time). In this paper a concurrent structure-control redesign approach is proposed in order to find the minimum positioning time of an underactuated robot manipulator, by considering a synergetic combination between the structural parameters and a bang-bang control law. The problem consists in finding the structural parameters of the system and the switching intervals of the bang-bang control that simultaneously minimize the positioning time, subject to the input constraint and the structural parameter constraint. The concurrent structure-control redesign approach is stated as a dynamic optimization problem (DOP). The projected gradient method is used to solve the DOP. The effectiveness of the proposed concurrent redesign approach is shown via simulation and experimental results on an underactuated system called the Pendubot.

Original language	English
Pages (from-to)	178-183
Number of pages	6
Journal	Mechatronics
Volume	19
Issue number	2
DOIs	https://doi.org/10.1016/j.mechatronics.2008.09.002
State	Published - Mar 2009
Externally published	Yes

Keywords

Concurrent redesign
Design optimization
Minimum time
Pendubot

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10.1016/j.mechatronics.2008.09.002

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title = "Concurrent redesign of an underactuated robot manipulator",

abstract = "An interesting problem in robotics is to minimize the required time to force a manipulator to travel between two specific points (positioning time). In this paper a concurrent structure-control redesign approach is proposed in order to find the minimum positioning time of an underactuated robot manipulator, by considering a synergetic combination between the structural parameters and a bang-bang control law. The problem consists in finding the structural parameters of the system and the switching intervals of the bang-bang control that simultaneously minimize the positioning time, subject to the input constraint and the structural parameter constraint. The concurrent structure-control redesign approach is stated as a dynamic optimization problem (DOP). The projected gradient method is used to solve the DOP. The effectiveness of the proposed concurrent redesign approach is shown via simulation and experimental results on an underactuated system called the Pendubot.",

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author = "Cruz-Villar, {Carlos A.} and Jaime Alvarez-Gallegos and Villarreal-Cervantes, {Miguel G.}",

note = "Funding Information: The first and second author acknowledge support from the mexican Consejo Nacional de Ciencia y Tecnolog{\'i}a (CONACyT), via the project number 084060. The third author acknowledges support from CONACyT through a scholarship to pursue graduate studies at CINVESTAV-IPN{\textquoteright}s Electrical Engineering Department.",

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AU - Alvarez-Gallegos, Jaime

AU - Villarreal-Cervantes, Miguel G.

N1 - Funding Information: The first and second author acknowledge support from the mexican Consejo Nacional de Ciencia y Tecnología (CONACyT), via the project number 084060. The third author acknowledges support from CONACyT through a scholarship to pursue graduate studies at CINVESTAV-IPN’s Electrical Engineering Department.

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N2 - An interesting problem in robotics is to minimize the required time to force a manipulator to travel between two specific points (positioning time). In this paper a concurrent structure-control redesign approach is proposed in order to find the minimum positioning time of an underactuated robot manipulator, by considering a synergetic combination between the structural parameters and a bang-bang control law. The problem consists in finding the structural parameters of the system and the switching intervals of the bang-bang control that simultaneously minimize the positioning time, subject to the input constraint and the structural parameter constraint. The concurrent structure-control redesign approach is stated as a dynamic optimization problem (DOP). The projected gradient method is used to solve the DOP. The effectiveness of the proposed concurrent redesign approach is shown via simulation and experimental results on an underactuated system called the Pendubot.

AB - An interesting problem in robotics is to minimize the required time to force a manipulator to travel between two specific points (positioning time). In this paper a concurrent structure-control redesign approach is proposed in order to find the minimum positioning time of an underactuated robot manipulator, by considering a synergetic combination between the structural parameters and a bang-bang control law. The problem consists in finding the structural parameters of the system and the switching intervals of the bang-bang control that simultaneously minimize the positioning time, subject to the input constraint and the structural parameter constraint. The concurrent structure-control redesign approach is stated as a dynamic optimization problem (DOP). The projected gradient method is used to solve the DOP. The effectiveness of the proposed concurrent redesign approach is shown via simulation and experimental results on an underactuated system called the Pendubot.

KW - Concurrent redesign

KW - Design optimization

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JO - Mechatronics

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Concurrent redesign of an underactuated robot manipulator

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Keywords

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