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Design of Mechatronic Systems With Configuration-Dependent Dynamics: Simulation and Optimization

2008; Institute of Electrical and Electronics Engineers; Volume: 13; Issue: 6 Linguagem: Inglês

10.1109/tmech.2008.2003957

1941-014X

Maíra Martins da Silva, Wim Desmet, Hendrik Van Brussel,

Robotic Mechanisms and Dynamics

This paper considers the simulation and optimization of mechatronic systems with configuration-dependent dynamics. A modeling methodology, able to capture the varying dynamics and the embedded control system actions, using affine reduced models and cosimulation, is proposed. In this way, mechatronic systems with configuration-dependent dynamics can be evaluated during the design phase. This methodology is applied to a pick-and-place assembly robot and an experimental validation is carried out. The mechatronic design approach, which takes into consideration structural and control parameters, is considered. Using time-domain metrics, two control strategies are derived: a linear time-invariant proportional--integral--derivative (PID) controller and a linear parameter-varying PID controller. Finally, design tradeoffs are evaluated in a truly mechatronic approach.