ICRA'09 Paper Abstract


Paper FrA7.4

Lou, Yunjiang (Shenzhen Graduate School, Harbin Institute of Technology), Gong, Wei (HIT Shenzhen Graduate School), Li, Zexiang (HKUST), Zhang, Jianjun (Hebei University of Technology), Yang, Guilin (Singapore Institute of Manufacturing Technology)

Natural Frequency Based Optimal Design of a Two-Link Flexible Manipulator

Scheduled for presentation during the Regular Sessions "Dynamics" (FrA7), Friday, May 15, 2009, 09:30−09:50, Room: 405

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Dynamics, Flexible Arms


Modern industries, e.g., semiconductor packaging, imposes increasing stringent requirement on equipment with very high acceleration and high precision. Traditionally, arm linkage and drive mechanism are first designed followed by control design. The integrated design method is proposed as a preferable technique of the traditional one. In this paper, a general framework of the integrated design method for a point to point control is presented. The dynamic model for a flexible planar two-link manipulator is derived by the finite element method. The PD control strategy is applied in the closedloop system. The structural parameters and control parameters are optimized simultaneously by solving the integrated design problem. The differential evolution (DE) technique, a global optimization technique, is used to solve the optimal design problem. A simulation shows the integrated design method gives improved system performance.



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