Abstract

In this paper, the integrated design of a parallel robot and its controller is stated as a nonlinear dynamic optimization problem (NLDOP), where the robot structural parameters and the controller gains are simultaneously found in order to track a desired trajectory with singularity avoidance. The dynamics of the parallel robot, which is nonlinear differential equations (NLDEs), is included into the NLDOP as equality constraints. A constraint handling differential evolution technique (CHDET) is used for solving the NLDOP. Finally, the design of a planar 5R 2DoF parallel robot and its controller demonstrates the effectiveness of the proposed approach via simulation results.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.