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

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Páginas1071-1078
Número de páginas8
DOI
EstadoPublicada - 2008
Publicado de forma externa
Evento2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 - Takamatsu, Japón
Duración: 5 ago. 20088 ago. 2008

Serie de la publicación

NombreProceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008

Conferencia

Conferencia2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
País/TerritorioJapón
CiudadTakamatsu
Período5/08/088/08/08

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