Simultaneous optimization of a two-link flexible robot arm

Integrated structure-control design of a two-link flexible robot arm is inv estigated in this article. The whole arm consists of two flexible links, a fixed joint, a moving joint, and a tip load. The arm is driven by the torqu e motors at the two joints to reach predefined tip positions and to suppres s residual flexural vibrations. The links of the arm are modeled using the finite element method and the cross-sectional dimensions of the beam elemen ts are used as structural design variables. A sliding mode controller and a linear stabilizer are used to regulate the arm position, The structural an d the control parameters of the whole arm system are optimized simultaneous ly using a genetic algorithm and the performance is compared with that of a n arm with uniform links and an optimized control system. The simulation re sult shows that faster regulation and less weight of the arm system can be achieved by simultaneous optimization. (C) 2001 John Wiley & Sons. Inc.