Task-specific optimal simultaneous kinematic, dynamic, and control design of high-performance robotic systems

A task-specific optimal simultaneous kinematic, dynamic and control design approach is proposed for highperformance computer-controlled machines, such as robots. This mechatronics design approach is based on the Trajectory Pa ttern Method and a fundamentally new design philosophy that such machines, in general, and ultrahigh-performance machines, in particular, must only be designed to perform a class or classes of motions effectively. In the prop osed approach, given the structure of the manipulator, its kinematic, dynam ic, and control parameters are optimized simultaneously with the parameters that describe a selected trajectory pattern with which the desired class(e s) of task(s) can best be performed. In one example, a weighted sum of the norms of the higher harmonics appearing in the actuating torques and the in tegral of the position and velocity tracking errors are used to form the op timality criterion. The selected optimality criterion should yield a system that is optimally designed to accurately follow the specified trajectory a t high speed. Other objective functions can be readily formulated to synthe size systems for optimal performance, Based on the developed design methodo logy, a two-degrees-of-freedom robot manipulator with a closed-loop chain i s optimally designed and constructed for point-to-point motions. The prelim inary results of experiments indicate that the robot can, in fact, execute point-to-point motions rapidly and with minimal residual vibration. The pot entials of the developed method and its implementation for generally define d motion patterns are discussed.