Integrated Optimal Model of Structure and Control of the Single Arm Manipulator

被引：0
|
作者：
朱灯林
姜涛
魏俊华
王安麟
王石刚
机构：
[1] School of Mechanical Engineering Shanghai Jiaotong University Shanghai 200030 China
[2] School of Mechanical Engineering Shanghai Jiaotong University Shanghai 200030 China
来源：
Journal of Beijing Institute of Technology(English Edition) | 2006年 / 03期
关键词：
flexible manipulator; performance requirement and configuration; integrated structure/control; integrated design of mechatronical system;
D O I：
10.15918/j.jbit1004-0579.2006.03.006
中图分类号：
TH122 [机械设计];
学科分类号：
摘要：
The integrated optimal design of mechanical and control system is discussed in terms of the performance requirement and configuration for the single arm flexible manipulator. By combination of dynamics of flexible structure and control theory, a PD feedback control system, which minimizes the settling time, has been designed. Then, the viable region of poles of the PD closed-loop control system is decided according to overshoot and the settling time, and an integrated optimal model of structure and control of single arm manipulator is presented. Finally, the parameters of structure and control system are simultaneously optimized with respect to objective function including the moment of inertia and the control effort of system.
引用
收藏
页码：278 / 282
页数：5
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