Constraint-Handling Techniques for the Concurrent Design of a Five-Bar Parallel Robot

In this paper, a concurrent structure-control design is applied to a five-bar parallel robot in order to minimize the tracking error in a high-speed task. The high power necessary to perform the task leads to a challenging problem in handling a physical constraint on the maximum torque as well as on...

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Veröffentlicht in:	IEEE access Jg. 5; S. 23010 - 23021
Hauptverfasser:	Cervantes-Culebro, Hector, Cruz-Villar, Carlos A., Martinez Peñaloza, Maria-Guadalupe, Mezura-Montes, Efren
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.01.2017 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Constraints control-structure design Design parameters differential evolution Energy consumption Feasibility Handling Handling torque constraints high-speed Linear programming Mechatronics Optimization Parallel robots pick and place tasks Ranking Robots Torque Tracking errors
ISSN:	2169-3536, 2169-3536
Online-Zugang:	Volltext
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