TY - GEN
T1 - Structure-control dynamic design of parallel robots for end-effector trajectory tracking and singularity avoidance
AU - Cruz-Villar, Carlos A.
AU - Alvarez-Gallegos, Jaime
AU - Villarreal-Cervantes, Miguel G.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=64949165981&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2008.4798907
DO - 10.1109/ICMA.2008.4798907
M3 - Contribución a la conferencia
AN - SCOPUS:64949165981
SN - 9781424426324
T3 - Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
SP - 1071
EP - 1078
BT - Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
T2 - 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Y2 - 5 August 2008 through 8 August 2008
ER -