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...

Full description

Saved in:

Bibliographic Details
Published in:	IEEE access Vol. 5; pp. 23010 - 23021
Main Authors:	Cervantes-Culebro, Hector, Cruz-Villar, Carlos A., Martinez Peñaloza, Maria-Guadalupe, Mezura-Montes, Efren
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.01.2017 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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 Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Be the first to leave a comment!