Abstract
In this paper, an inverse kinematics analysis algorithm of a robot is proposed based on the analysis of the configuration and kinematics of the robot. With the inverse kinematics method, the working path of the robot’s joints is planned. Based on multi-body dynamics, finite element analysis, topology optimization and PID control, using co-simulation, this paper presents the method including Structural Optimization, Mechanical System Optimization and Controller Optimization. The main bearing part (large arm) is selected as the optimization object, in order to improve the repeated positioning accuracy of the robotic robot and verify the collaborative optimization methods, the effectiveness of the method is improved by comparing the error of the end position with the same working path by comparing the robotic system before and after the collaborative optimization.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Grujicic, M.F., Arakere, G.S., Pisu, P.T.: Application of topology, size and shape optimization methods in polymer metal hybrid structural lightweight engineering. Multidiscipline Model. Mater. Struct. 4(4), 305–330 (2008)
Lee, S.H.F., Kim, J.S., Park, F.C.T.: Newton-type algorithms for dynamics-based robot movement optimization. IEEE Trans. Robot. 21(4), 657–667 (2005)
Liu, L.F., Wang, G.D.S., Xiao, R.Y.T.: Optimization of the method to palletize firebricks by robot based on pareto genetic algorithm. In: Applied Mechanics and Materials 2014, vol. 620, pp. 337–342. Trans Tech Publications (2014)
Lim, K.B.F., Junkins, J.L.S.: Robustness optimization of structural and controller parameters. J. Guidance Control & Dyn. 12(12), 89–96 (2012)
Deng, K.F., Pan, P.S., Sun, J.T.: Shape optimization design of steel shear panel dampers. J. Constr. Steel Res. 99, 187–193 (2014)
Bourdin, B.F., Kohn, R.V.S.: Optimization of structural topology in the high-porosity regime. J. Mech. Phys. Solids 56(3), 1043–1064 (2004)
Tai, K.F., Wang, S.S., Akhtar, S.T.: Structural topology optimization using a genetic algorithm and a morphological representation of geometry. Dissertations & Theses – Gradworks 599, 319–323 (2003)
Sigmund, O.F., Maute, K.S.: Topology optimization approaches. Struct. Multi. Optim. 48(6), 1031–1055 (2013)
Acknowledgment
Thanks for all the team members for their outstanding contributions to the project. Special thanks to Anping Chen Engineer for his guidance during the research.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Cheng, Y. et al. (2017). Collaborative Optimization of Robot’s Mechanical Structure and Control System Parameter. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_61
Download citation
DOI: https://doi.org/10.1007/978-3-319-65298-6_61
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-65297-9
Online ISBN: 978-3-319-65298-6
eBook Packages: Computer ScienceComputer Science (R0)