Simultaneous optimization of a flexible robot arm

Integrated structure/control design of a one-link flexible robot arm is inv estigated in this paper. The arm consists of a tip mass, a flexible link an d a hub and is driven by the hub motor to reach pre-defined tip position an d suppress residual flexural vibrations. The arm is modeled using finite el ement method and the cross-sectional dimensions of the beam elements are us ed as structural design variables. A sliding mode controller and a linear s tabilizer are used to regulate the arm position. The structural and control parameters are optimized simultaneously using genetic algorithm and the si mulation results show the advantages of the new design method: faster regul ation and less weight for the optimized arm than a uniform arm.