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| Integrated Design of Structure and Control of Flexible Manipulator |
| ZHU Deng-lin, JIANG Tao, WANG An-lin, WANG Shi-gang |
| School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, China |
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Abstract In this paper, the integrated optimal design methodology of mechanical and control system is discussed with regard to the performance requirement and configuration of flexible manipulator. In terms of percent overshoot σp and the settling time ts, the viable region of poles of the closed-loop transfer function is decided. Then, by the combination of dynamics of flexible structure and control theory, the optimum model including structure and control parameters is proposed. Finally, the objective function, which contains the moment of inertia and the control effort of system, is optimized.
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Received: 24 June 2004
Published: 15 January 2005
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