کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
732882 | 1461580 | 2006 | 10 صفحه PDF | دانلود رایگان |
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.
Journal: Mechatronics - Volume 16, Issues 3–4, April–May 2006, Pages 233–242