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

Hiroshi Yamakawa, Yoshihito Matsumura

    研究成果: Conference contribution

    抄録

    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.

    本文言語English
    ホスト出版物のタイトル8th Symposium on Multidisciplinary Analysis and Optimization
    出版ステータスPublished - 2000
    イベント8th Symposium on Multidisciplinary Analysis and Optimization 2000 - Long Beach, CA
    継続期間: 2000 9 62000 9 8

    Other

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

    ASJC Scopus subject areas

    • 航空宇宙工学
    • 機械工学

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