Integrated structure and control design for mechatronic systems with configuration-dependent dynamics

This paper considers the optimal design of mechatronic systems with configuration-dependent dynamics. An optimal mechatronic design requires that, among the structural and control parameters, an optimal choice has to be made with respect to design specifications in the different domains. Two main ch...

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Vydáno v:Mechatronics (Oxford) Ročník 19; číslo 6; s. 1016 - 1025
Hlavní autoři: da Silva, Maíra Martins, Brüls, Olivier, Desmet, Wim, Van Brussel, Hendrik
Médium: Journal Article
Jazyk:angličtina
Vydáno: Elsevier Ltd 01.09.2009
Pergamon Press - An Imprint of Elsevier Science
Témata:
Computer science
Engineering, computing & technology
Flexible multibody systems
Ingénierie, informatique & technologie
Mathematics
Mathématiques
Motion control
Multi-objective optimization
Physical, chemical, mathematical & earth Sciences
Physique, chimie, mathématiques & sciences de la terre
Sciences informatiques
Virtual prototyping
Flexible multibody systems
Multi-objective optimization
Virtual prototyping
Motion control
ISSN:0957-4158, 1873-4006
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Popis
Shrnutí:This paper considers the optimal design of mechatronic systems with configuration-dependent dynamics. An optimal mechatronic design requires that, among the structural and control parameters, an optimal choice has to be made with respect to design specifications in the different domains. Two main challenges are treated in this paper: the non-convex nature of the optimization problem and the difficulty in modeling serial machines with flexible components and their embedded controllers. The optimization problem is treated using the direct design strategy which considers simultaneously structural and control parameters as variables and adopts non-convex optimization algorithms. Linear time-invariant and gain-scheduling PID controllers are addressed. This methodology is exploited for the multi-objective optimization of a pick-and-place assembly robot with a gripper carried by a variable-length flexible beam. The resulting design tradeoffs between system accuracy and control efforts demonstrate the advantage of an integrated design approach for mechatronic systems with configuration-dependent dynamics.
Bibliografie:ObjectType-Article-2
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scopus-id:2-s2.0-68349103169
ISSN:0957-4158
1873-4006
DOI:10.1016/j.mechatronics.2009.06.006