Synergetic structure-control design via a hybrid gradient-evolutionary algorithm

摘要

This paper proposes a synergetic approach to design a planar parallel robot with its control system. In this proposal, the design problem is stated as a dynamic optimization problem with dynamic and static constraints on both the robot parameters and the control input to the robot. Control parameterization via PID controllers is used to rewrite the dynamic optimization problem as a nonlinear programming problem, which is solved by using a hybrid gradient-evolutionary optimization technique. The dynamic optimization problem presents singularity regions in the design space requiring the use of the proposed hybrid gradient-evolutionary optimization technique. The rationale behind the proposed hybrid algorithm lies in using a exploratory search mechanism for finding the initial guess to the fine search mechanism, which is used to search in a local region of a solution. We discuss both the results of the proposed optimization technique and the experimental results of the robot designed with the proposed approach. In addition, the result provided by the proposed synergetic design approach is compared with a sequential design approach, showing the advantages of the synergetic approach.