Integrated structure and control design for flexible manipulator system - 文章详情页

作者：

Cui, Ling-Li (Cui, Ling-Li.) (学者：崔玲丽) | Gao, Li-Xin (Gao, Li-Xin.) | Zhang, Jian-Yu (Zhang, Jian-Yu.) | Xiao, Zhi-Quan (Xiao, Zhi-Quan.)

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EI Scopus PKU CSCD

摘要：

To　consider　the　effects　of　both　mechanic　structure　and　controller　on　the　system　performance,　integrated　structure　and　control　design　method　is　used　for　the　flexible　manipulator.　At　the　same　time,　the　optimal　parameters　which　include　the　parameters　of　flexible　manipulator　structure　and　the　controller　parameters　are　designed.　To　guarantee　both　robustness　and　tip　vibration　suppression　of　the　system,　H∞　robust　controller　is　used.　Structural　design　variables　are　optimized　by　using　intelligent　optimization　algorithms　that　is　an　improved　genetic　algorithms.　Design　results　demonstrate　that　the　optimized　manipulator　is　the　structure　of　non-uniform　cross-section　beam　and　the　designed　controller　is　robust　to　the　system　parametric　uncertainties.

关键词：

Flexible manipulators Genetic algorithms Robust control Structural design Vibrations (mechanical)

作者机构：

[ 1 ] [Cui, Ling-Li]Key Laboratory Beijing Municipality in Advanced Manufacturing Technology, College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022, China
[ 2 ] [Gao, Li-Xin]Key Laboratory Beijing Municipality in Advanced Manufacturing Technology, College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022, China
[ 3 ] [Zhang, Jian-Yu]Key Laboratory Beijing Municipality in Advanced Manufacturing Technology, College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022, China
[ 4 ] [Xiao, Zhi-Quan]Key Laboratory of Complex System and Intelligent Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China

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