@inproceedings{1249eee9ae6f4cd0bb8eefd7275d2c3b,
title = "Integrated structure and control design for a flexible planar manipulator",
abstract = "Modern industries impose increasingly stringent performance requirements on equipments with very high acceleration and high precision. The integrated design method was proposed as a preferable technique to the traditional one. In this paper, a general framework of the integrated design for a parallel flexible planar linkage is presented. The dynamic model for a multi-link planar linkage with closed chains is derived by the finite element method. The proportional-derivative control strategy is applied in the closed-loop control system. The control parameters and structural parameters are optimized simultaneously by solving the integrated design problem. The differential evolution algorithm, a fast global optimization technique, is used to solve the optimal design problem. Simulation shows the integrated design method gives an over 20\% improvement in settling time.",
keywords = "Integrated design, five-bar mechanism, flexible linkage, multibody dynamics",
author = "Yunjiang Lou and Yongsheng Zhang and Ruining Huang and Zexiang Li",
year = "2011",
doi = "10.1007/978-3-642-25486-4\_27",
language = "English",
isbn = "9783642254857",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
number = "PART 1",
pages = "260--269",
booktitle = "Intelligent Robotics and Applications - 4th International Conference, ICIRA 2011, Proceedings",
edition = "PART 1",
note = "4th International Conference on Intelligent Robotics and Applications, ICIRA 2011 ; Conference date: 06-12-2011 Through 08-12-2011",
}