@inproceedings{4587621404724f6088c44583e036558d,
title = "Concurrent structure-control design of parallel robots using an estimation of distribution algorithm",
abstract = "In this paper, a structure-control design methodology for simultaneously optimizing both mechanical structure and control of parallel robots is proposed. It takes into count the dynamical model and the mechanical parameters for the optimization process. Thus, PID control and geometric variables are optimized in a simultaneously way. Through the concurrent procedure, an optimal combination of the robot structure and control gains is obtained. An estimation of distribution algorithm (EDA) is formulated and used as the search algorithm. The proposed methodology is verified through simulation experiments and applied to the design process of a parallelogram linkage system. The results obtained in experiments show the effectiveness of the proposed methodology. The presented approach is generic and can be applied to other mechanisms with similar structure.",
keywords = "Concurrent design, Estimation of distribution algorithms, Optimization, Parallelogram linkage",
author = "E. Ch{\'a}vez-Conde and {Ivvan Valdez}, S. and Eusebio Hern{\'a}ndez",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 5th International Symposium on Multibody Systems and Mechatronics, MUSME 2014 ; Conference date: 21-10-2014 Through 24-10-2014",
year = "2015",
doi = "10.1007/978-3-319-09858-6_30",
language = "Ingl{\'e}s",
series = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",
pages = "315--325",
editor = "Martinez, {Eusebio Eduardo Hern{\'a}ndez} and Marco Ceccarelli",
booktitle = "Multibody Mechatronic Systems - Proceedings of the MUSME Conference, 2014",
address = "Pa{\'i}ses Bajos",
}