Integrated structure/control design of a two-link nonrigid robot arm for high speed positioning

Jahng-Hyon Park, Haruhiko Asada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Scopus citations

Abstract

An integrated approach to the concurrent design of arm structure and control is presented. To achieve high-speed positioning, a technique is developed in which comprehensive design parameters describing arm link geometry, actuator locations, and feedback gains are optimized with respect to the settling time of the system. First, a two-link, nonrigid arm is analyzed, and a simple dynamic model representing rapid positioning processes is obtained. A PD (proportional plus derivative) control system is designed for the dynamic model. Optimal feedback gains minimizing the settling time are obtained as functions of structural parameters involved in the dynamic model. The structural parameters are then optimized by using an optimization technique in order to obtain an overall optimal performance. The resultant arm design shows an outstanding performance, which is otherwise unattainable if one designs the structure and control separately.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages735-741
Number of pages7
ISBN (Print)0818627204
Publication statusPublished - 1992 Apr 1
EventProceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: 1992 May 121992 May 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1

Other

OtherProceedings 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period92/05/1292/05/14

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Park, J-H., & Asada, H. (1992). Integrated structure/control design of a two-link nonrigid robot arm for high speed positioning. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 735-741). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Publ by IEEE.