A multi-objective design methodology that uses an evolutionary algorithm optimization process is presented and is applied to the simultaneous optimal design of a robotic manipulator/controller for performing point-to-point motion tasks. Dynamic performance measures, for the closed-loop system, are optimized by considering a nonlinear PD controller and quin-tic polynomial trajectories for point-to-point motions. Results of the simultaneous optimal design of a planar manipulator, a nonlinear controller, and some sample trajectories are presented to illustrate the efficacy of this methodology.
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