Design of Mechatronic Systems With Configuration-Dependent Dynamics: Simulation and Optimization (original) (raw)

2000, IEEE/ASME Transactions on Mechatronics

This paper considers the simulation and optimization of mechatronic systems with configuration-dependent dynamics. A modeling methodology, able to capture the varying dynamics and the embedded control system actions, using affine reduced models and cosimulation, is proposed. In this way, mechatronic systems with configuration-dependent dynamics can be evaluated during the design phase. This methodology is applied to a pickand-place assembly robot and an experimental validation is carried out. The mechatronic design approach, which takes into consideration structural and control parameters, is considered. Using timedomain metrics, two control strategies are derived: a linear timeinvariant proportional-integral-derivative (PID) controller and a linear parameter-varying PID controller. Finally, design tradeoffs are evaluated in a truly mechatronic approach.

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