|Reference : Integrated structure and control design for mechatronic systems with configuration-depen...|
|Scientific journals : Article|
|Physical, chemical, mathematical & earth Sciences : Mathematics|
Engineering, computing & technology : Computer science
|Integrated structure and control design for mechatronic systems with configuration-dependent dynamics|
|Da Silva, Maíra Martins [Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300 B, B-3001 Leuven, Belgium > > > >]|
|Bruls, Olivier [Université de Liège - ULg > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]|
|Desmet, Wim [Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300 B, B-3001 Leuven, Belgium > > > >]|
|Van Brussel, Hendrik [Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300 B, B-3001 Leuven, Belgium > > > >]|
|Pergamon Press - An Imprint of Elsevier Science|
|[en] Virtual prototyping; Motion control; Flexible multibody systems; Multi-objective optimization|
|[en] 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.
2009 Elsevier Ltd. All rights reserved.
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