Structure-control dynamic design of parallel robots for end-effector trajectory tracking and singularity avoidance

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

Research output: Contribution to conferencePaper

Abstract

In this paper, the integrated design of a parallel robot and its controller is stated as a nonlinear dynamic optimization problem (NLDOP), where the robot structural parameters and the controller gains are simultaneously found in order to track a desired trajectory with singularity avoidance. The dynamics of the parallel robot, which is nonlinear differential equations (NLDEs), is included into the NLDOP as equality constraints. A constraint handling differential evolution technique (CHDET) is used for solving the NLDOP. Finally, the design of a planar 5R 2DoF parallel robot and its controller demonstrates the effectiveness of the proposed approach via simulation results. © 2008 IEEE.
Original languageAmerican English
Pages1071-1078
Number of pages963
DOIs
StatePublished - 1 Dec 2008
Externally publishedYes
EventProceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 -
Duration: 1 Dec 2008 → …

Conference

ConferenceProceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Period1/12/08 → …

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Cruz-Villar, C. A., Alvarez-Gallegos, J., & Villarreal-Cervantes, M. G. (2008). Structure-control dynamic design of parallel robots for end-effector trajectory tracking and singularity avoidance. 1071-1078. Paper presented at Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008, . https://doi.org/10.1109/ICMA.2008.4798907