Integrated Optimal Model of Structure and Control of the Single Arm Manipulator

The integrated optimal design of mechanical and control system is discussed in terms of the performance requirement and configuration for the single arm flexible manipulator. By combination of dynamics of flexible structure and control theory, a PD feedback control system, which minimizes the settling time, has been designed. Then, the viable region of poles of the PD dosed-loop control system is decided according to overshoot and the settling time, and an integrated optimal model of structure and control of single arm manipulator is presented. Finally, the parameters of structure and control system are simultaneously optimized with respect to objective function induding the moment of inertia and the control effort of system.

Mechatronic Modeling and Domain Transformation of Multi-physics Systems

The enhanced definition of Mechatronics involves the four underlying characteristics of integrated,unified,unique,and systematic approaches.In this realm,Mechatronics is not limited to electro-mechanical systems,in the multi-physics sense,but involves other physical domains such as fluid and thermal.This paper summarizes the mechatronic approach to modeling.Linear graphs facilitate the development of state-space models of mechatronic systems,through this approach.The use of linear graphs in mechatronic modeling is outlined and an illustrative example of sound system modeling is given.Both time-domain and frequency-domain approaches are presented for the use of linear graphs.A mechatronic model of a multi-physics system may be simplified by converting all the physical domains into an equivalent single-domain system that is entirely in the output domain of the system.This approach of converting(transforming)physical domains is presented.An illustrative example of a pressure-controlled hydraulic actuator system that operates a mechanical load is given.