TY - GEN
T1 - Robust integrated design for dynamic systems in engineering design
AU - Villarreal-Cervantes, Miguel G.
AU - Cruz-Villar, Carlos A.
AU - Álvarez-Gallegos, Jaime
PY - 2010
Y1 - 2010
N2 - In this paper a robust integrated design methodology for dynamic systems is formulated. The proposed methodology can be applied to design both the system and the control parameters, thus allowing for an optimization based integrated system and controller design under uncertainties or unknown parameters. This design methodology is used to simultaneously design the links of a five revolute two degree of freedom parallel robot and the gains of its control system such that the position error and the manipulability measure are as insensible as possible to variations at the end-effector's loads. Simulation results show the effectiveness of the proposed methodology compared with a non-robust integrated design.
AB - In this paper a robust integrated design methodology for dynamic systems is formulated. The proposed methodology can be applied to design both the system and the control parameters, thus allowing for an optimization based integrated system and controller design under uncertainties or unknown parameters. This design methodology is used to simultaneously design the links of a five revolute two degree of freedom parallel robot and the gains of its control system such that the position error and the manipulability measure are as insensible as possible to variations at the end-effector's loads. Simulation results show the effectiveness of the proposed methodology compared with a non-robust integrated design.
UR - http://www.scopus.com/inward/record.url?scp=78650356782&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2010.5637519
DO - 10.1109/ISIE.2010.5637519
M3 - Contribución a la conferencia
AN - SCOPUS:78650356782
SN - 9781424463916
T3 - IEEE International Symposium on Industrial Electronics
SP - 1943
EP - 1949
BT - ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
T2 - 2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
Y2 - 4 July 2010 through 7 July 2010
ER -