Integrated Modeling And Optimization Design Technology Of Structure And Control For Flexible Manipulator

Comparing with the conventional rigid robotic manipulator, there are a number of potential advantages stemming from the use of flexible manipulator such as faster operation, lower energy consumption, and higher load carrying capacity for the amount of energy expended. The coupling between the controller and the mechanical structure of a flexible manipulator concurrently is not considered in the previous researches. This research project focuses on the flexible manipulators. Under the integration optimization object, the integrated system optimization mathematical model is established which includes construction parameters, sensor parameters, controller parameters and driver parameters to consider the effects of the dynamics of flexible manipulators and control strategy synthetically. The optimized manipulator beam is non-uniform cross-section beam and the controller is not only easy to implement but also robust to the system parameters uncertainty. The simulation work of a single link flexible beam is done. The simulation results show that the global optimization design reduces the manipulator mass to result in less energy consumption under the same performances.The organization structure of full text is as follows:In chapter 1, A review and history of the theory research and situation of flexible manipulators modeling and control technology are given, and the lack of the independence structure or control system optimal design is pointed out by the induction of correlative technique. Finally, the contents and significance of the dissertation is put forward.In chapter 2, A pick-and-place manipulator-like system is considered. The model derivation proceeds step-by-step from calculation of energies through to a dynamic equation and constraints. Several representative, formulae are given. An extensive analysis of the resonant frequencies and modal shapes for the governing equations are developed.In chapter 3, The segmentized model of flexible link is discussed, and the state space equation is formulated in which the beam geometric distribution is the variable. Several feasible output specifications are presented.In chapter 4, The flexible manipulators optimal design is researched based on Linear Quadratic Regulator(LQR) formula. The global optimization method is designed to combine the physical construction design with control algorithm by using the structure optimization as the outer-loop and the LQR control as inner-loop.In chapter 5, The state-space equation for the generalized plant is derived basedon the chapter 4, H_∞, controller is designed that internally stabilizes the close-loopsystem and minimizes all impacts from system uncertainties and disturbances to solve the control and modeling accuracy problem. And then , the responses for step-type disturbance and step input were carried out and numerical results to various cases are presented .In chapter 6, The simulation of the design methods is given based on H_∞andLQR control, the results of instance and the system robustness to parameter disturbance are analyzed.In chapter 7, All achievements of the dissertation are summarized so as to put forward the further research.