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Synergetic structure–control design via a hybrid gradient-evolutionary algorithm

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Abstract

This paper proposes a synergetic approach to design a planar parallel robot with its control system. In this proposal, the design problem is stated as a dynamic optimization problem with dynamic and static constraints on both the robot parameters and the control input to the robot. Control parameterization via PID controllers is used to rewrite the dynamic optimization problem as a nonlinear programming problem, which is solved by using a hybrid gradient-evolutionary optimization technique. The dynamic optimization problem presents singularity regions in the design space requiring the use of the proposed hybrid gradient-evolutionary optimization technique. The rationale behind the proposed hybrid algorithm lies in using a exploratory search mechanism for finding the initial guess to the fine search mechanism, which is used to search in a local region of a solution. We discuss both the results of the proposed optimization technique and the experimental results of the robot designed with the proposed approach. In addition, the result provided by the proposed synergetic design approach is compared with a sequential design approach, showing the advantages of the synergetic approach.

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Acknowledgments

The first author is grateful to Prof. Carlos A. Coello for useful discussions and courses taught. The authors acknowledges support from the National Council for Science and Technology of Mexico (CONACyT) through Grants 182298 and 084060 and the support from “Secretaría de Investigación y Posgrado” (SIP) of the Instituto Politécnico Nacional (IPN) through Grant No. 20131053.

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Authors and Affiliations

  1. Mechatronics Group, Instituto Politécnico Nacional - CIDETEC, Mexico City, Mexico

    Miguel G. Villarreal-Cervantes

  2. Mechatronics Section, Electrical Engineering Department, CINVESTAV, Mexico City, Mexico

    Carlos Alberto Cruz-Villar & Jaime Alvarez-Gallegos

Authors
  1. Miguel G. Villarreal-Cervantes
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  2. Carlos Alberto Cruz-Villar
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  3. Jaime Alvarez-Gallegos
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Corresponding author

Correspondence to Carlos Alberto Cruz-Villar.

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Villarreal-Cervantes, M.G., Cruz-Villar, C.A. & Alvarez-Gallegos, J. Synergetic structure–control design via a hybrid gradient-evolutionary algorithm . Optim Eng 16, 511–539 (2015). https://doi.org/10.1007/s11081-014-9254-x

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  • DOI: https://doi.org/10.1007/s11081-014-9254-x

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