Differential evolution techniques for the structure-control design of a five-bar parallel robot

Engineering Optimization (Impact Factor: 1.08). 06/2010; 42(6):535-565. DOI: 10.1080/03052150903325557

ABSTRACT The present work deals with the use of a constraint-handling differential evolution algorithm to solve a nonlinear dynamic optimization problem (NLDOP) with 51 decision variables. A novel mechatronic design approach is proposed as an NLDOP, where both the structural parameters of a non-redundant parallel robot and the control parameters are simultaneously designed with respect to a performance criterion. Additionally, the dynamic model of the parallel robot is included in the NLDOP as an equality constraint. The obtained solution will be a set of optimal geometric parameters and optimal PID control gains. The optimal geometric parameters adjust the dynamic and the kinematic parameters, optimizing then, the link shapes of the robot. The proposed mechatronic design approach is applied to design simultaneously both the mechanical structure of a five-bar parallel robot and the PID controller.

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Available from: Edgar Alfredo Portilla Flores, Sep 25, 2015
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    • "The main reason to consider the octagonal prismatic shape of the link is that by modifying the lengths a si , ..., k si , the mass center angle γ i can be in the interval γ i ∈ [0, ±π], thus providing more diversity to the design solution than a rectangular shape, whose mass center angle could only be zero or ±π radians. The mathematical expressions relating the mass, the mass center length, the mass center angle and the inertia with the structure design variable vector can be found in [18]. The gains of the PID controller are defined as the control design variable vector p c ∈ R nc . "
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    ABSTRACT: In this paper, a robust formulation for the structure-control design of mechatronic systems is developed. The proposed robust approach aims at minimization of the sensitivity of the nominal design objectives with respect to uncertain parameters. The robust integrated design problem is established as a nonlinear multiobjective dynamic optimization one, which in order to consider synergetic interactions uses mechanical and control nominal design objectives. A planar parallel robot and its controller are simultaneously designed with the proposed approach when the nominal design objectives are the tracking error and the manipulability measure. The payload at the end-effector is considered as the uncertain parameter. Experimental results show that a robustly designed parallel robot presents lower sensitivity of the nominal design objectives under the effects of changes at the payload than a nonrobustly designed one.
    IEEE/ASME Transactions on Mechatronics 10/2013; 18(5):1592-1601. DOI:10.1109/TMECH.2012.2208196 · 3.43 Impact Factor
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    • "In the last decades, the use of heuristic techniques have been used in engineering problems [16], [17], [18], [16]. This is due to the increment of the technological advances and because problems are non-convex, discontinuous and/or present discrete variables that make it difficult (or imposible) to solve them by traditional optimization techniques such as nonlinear programming techniques. "
    07/2013; 47(47):67-73. DOI:10.17562/PB-47-8
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    • "Hence, gradient based algorithms do not ensure global optimum and they have limited application [10]. Heuristic based algorithms (HBA) have been widely used to solve real world optimization problems [10], [11], [12], [13]. Differential evolution (DE) [14] is an HBA which can be used to solve continuous, discontinuous, linear, nonlinear, dynamic and static optimization problems. "
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    ABSTRACT: In this paper the formulation of the optimal design for wheel location of an omnidirectional mobile robot is proposed as an optimization problem. The empirical com-parison of the SQP algorithm and eight different DE variants for this particular optimization problems is presented. The importance of using heuristic approaches in real world optimization problem is analyzed via empirical results.
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