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Simultaneous plant-controller design optimization of a two-link planar manipulator

Authors
Journal
Mechatronics
0957-4158
Publisher
Elsevier
Publication Date
Volume
16
Identifiers
DOI: 10.1016/j.mechatronics.2005.09.008
Keywords
  • Manipulators
  • Evolutionary Algorithms
  • Nonlinear Gain Pd Controller
  • Design Optimization
  • Counter-Weights
Disciplines
  • Computer Science
  • Design

Abstract

Abstract This paper presents a methodology based on numerical optimization techniques for simultaneously optimizing design parameters of a two-link planar rigid manipulator and a nonlinear gain PD controller designed for performing multiple tasks. The formulation of simultaneous plant-controller design optimization problem and the description of solution techniques based on a heuristic evolutionary algorithm for solving this optimization problem are presented. The gravity balanced two-link planar manipulator design is described and a class of nonlinear gain PD controllers is introduced for the set-point control of manipulator with counter-weights and different payloads. The results of the simultaneous design optimization involving a nonlinear PD controller and the two-link manipulator are given.

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