Task Based Mechatronic System Design using Differential Evolution Strategies
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Redalyc
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| Natura: | Artículo científico |
| Lingua: | en |
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Instituto Politécnico Nacional
2009
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| _version_ | 1876475645613047808 |
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| author | Carlos Alberto Cruz Villar |
| author_facet | Carlos Alberto Cruz Villar |
| contents | Task Based Mechatronic System Design using Differential Evolution Strategies Carlos Alberto Cruz Villar Jaime Álvarez Gallegos Miguel Gabriel Villarreal Cervantes Computación Parallel robot Task based design Mechatronic design System optimization Evolutionary algorithms A dynamic design approach for a mechatronic system called task based mechatronic system design approach (TBMSDA) is stated as a nonlinear dynamic optimization problem (NLDOP) and it is solved by using a differential evolution technique. The design of a parallel robot is carried out by this approach which integrates in a simultaneous way both the structure design parameters of a parallel robot and the PID controller gains in order to improve the position errors and the robot dexterity for executing a specific task. The TBMSDA considers the dynamic system as an equality constraint into the optimization problem. Through the TBMSDA, an optimal combination of the structure and PID controller gains for a planar five-bar parallel robot is obtained. Simulation results show the effectiveness of this design approach. 2009 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61513249002 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.4 Vol.12 |
| format | Artículo científico |
| id | redalyc_61513249002 |
| institution | Redalyc |
| language | en |
| publishDate | 2009 |
| publisher | Instituto Politécnico Nacional |
| spellingShingle | Task Based Mechatronic System Design using Differential Evolution Strategies Carlos Alberto Cruz Villar Computación Parallel robot Task based design Mechatronic design System optimization Evolutionary algorithms Task Based Mechatronic System Design using Differential Evolution Strategies Carlos Alberto Cruz Villar Jaime Álvarez Gallegos Miguel Gabriel Villarreal Cervantes Computación Parallel robot Task based design Mechatronic design System optimization Evolutionary algorithms A dynamic design approach for a mechatronic system called task based mechatronic system design approach (TBMSDA) is stated as a nonlinear dynamic optimization problem (NLDOP) and it is solved by using a differential evolution technique. The design of a parallel robot is carried out by this approach which integrates in a simultaneous way both the structure design parameters of a parallel robot and the PID controller gains in order to improve the position errors and the robot dexterity for executing a specific task. The TBMSDA considers the dynamic system as an equality constraint into the optimization problem. Through the TBMSDA, an optimal combination of the structure and PID controller gains for a planar five-bar parallel robot is obtained. Simulation results show the effectiveness of this design approach. 2009 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61513249002 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.4 Vol.12 |
| title | Task Based Mechatronic System Design using Differential Evolution Strategies |
| topic | Computación Parallel robot Task based design Mechatronic design System optimization Evolutionary algorithms |
| url | https://www.redalyc.org/articulo.oa?id=61513249002 |