A synergistic optimal design for trajectory tracking of underactuated manipulators

[+] Author and Article Information
Guaraci Jr. Bastos

Mechanical Engineering Department, Federal University of Pernambuco, Av. Prof. Moraes Rego 1235, 50670-901, Recife-PE, Brazil

1Corresponding author.

ASME doi:10.1115/1.4041530 History: Received January 17, 2017; Revised September 13, 2018


An integrated and general methodology is required to define an ideal relation between input controls and structural parameters of a system in trajectory tracking problems. For underactuated manipulators, a synergistic optimal design should be to reduce elastic deformations, mass of structure and actuation forces. The key advantage of such integrated approach is the capability to search in a design space, to account for many dynamic couplings in an early design stage and to avoid simplifying assumptions which would induce to suboptimal design. Particulary, some advances considering underactuated manipulators are the possibility to treat non-minimum phase systems, then lighter structures could be selected, since bounded and smoother solution could be generated. A synergistic consideration in view to find the desired requirements and realize the specified task thought an optimal control problem is considered, where a generalization of an inverse dynamics problem is defined. A planar underactuated manipulator is considered for the methodology application.

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