Optimal Multi-objective Manipulator/Controller Design for Space Applications
نویسندگان
چکیده
A simultaneous manipulator/controller design optimization problem is described using a multi-objective optimization formulation applied to an end-effector tracking problem. Dynamic performance measures, for the closed-loop system, are optimized by considering a nonlinear PD controller and quintic polynomial trajectories for point-to-point motions. Results for a planar-manipulator, a controller, and some sample trajectories are presented and illustrate the efficacy of the methodology.
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