Simultaneous optimization of structural and control systems of flexible robot arms considering geometric nonlinearity

Hiroshi Yamakawa, Yoshihito Matsumura

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    The control problems of flexible structural systems have been of importance and of interest. The geometric nonlinearities should be considered in the analysis of those systems. Simultaneous optimizations of structural and control systems have been studied intensively but most of the works treated only linear structural behaviours due to the complexity of computations. The aim of this study is to clarify the difference in simultaneous optimizations between linear and nonlinear structural models with control systems. We consider two analytical models of flexible robot arm to have linear and nonlinear structural properties and then use angle and angular velocity feedback control rule for the positioning of the arm. The comparisons and examinations are done in both models. A significant difference is seen between them.

    Original languageEnglish
    Title of host publication8th Symposium on Multidisciplinary Analysis and Optimization
    Publication statusPublished - 2000
    Event8th Symposium on Multidisciplinary Analysis and Optimization 2000 - Long Beach, CA
    Duration: 2000 Sep 62000 Sep 8

    Other

    Other8th Symposium on Multidisciplinary Analysis and Optimization 2000
    CityLong Beach, CA
    Period00/9/600/9/8

    Fingerprint

    Control nonlinearities
    Robots
    Control systems
    Velocity control
    Angular velocity
    Feedback control
    Structural properties
    Analytical models

    ASJC Scopus subject areas

    • Aerospace Engineering
    • Mechanical Engineering

    Cite this

    Yamakawa, H., & Matsumura, Y. (2000). Simultaneous optimization of structural and control systems of flexible robot arms considering geometric nonlinearity. In 8th Symposium on Multidisciplinary Analysis and Optimization

    Simultaneous optimization of structural and control systems of flexible robot arms considering geometric nonlinearity. / Yamakawa, Hiroshi; Matsumura, Yoshihito.

    8th Symposium on Multidisciplinary Analysis and Optimization. 2000.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Yamakawa, H & Matsumura, Y 2000, Simultaneous optimization of structural and control systems of flexible robot arms considering geometric nonlinearity. in 8th Symposium on Multidisciplinary Analysis and Optimization. 8th Symposium on Multidisciplinary Analysis and Optimization 2000, Long Beach, CA, 00/9/6.
    Yamakawa H, Matsumura Y. Simultaneous optimization of structural and control systems of flexible robot arms considering geometric nonlinearity. In 8th Symposium on Multidisciplinary Analysis and Optimization. 2000
    Yamakawa, Hiroshi ; Matsumura, Yoshihito. / Simultaneous optimization of structural and control systems of flexible robot arms considering geometric nonlinearity. 8th Symposium on Multidisciplinary Analysis and Optimization. 2000.
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