Optimal construction and control of flexible manipulators: a case study based on LQR output feedback

A mechatronic approach is studied here to design the mechanical system and controller concurrently for a robotic flexible manipulator. There is no cou pling effects among these components which exit in traditional sequential d esign and this concurrent development leads to the global optimal performan ce. A linear quadratic regulator with output feedback is used to compare th e results obtained from the traditional approach and this mechatronic appro ach, Using the mechatronic approach, optimal beam shapes as well as the ass ociated optimal controllers for different feedback structures and for diffe rent objective functions can be achieved. Numerical results have indicated substantial improvements on performance. (C) 2000 Elsevier Science Ltd. All rights reserved.