An optimal design for robot dynamic control

In this paper we consider the problem of the optimal design in robotics systems. First we discuss the problems relating to the optimization of the mechanical structure in dimensions and performance. Then the control system and the controller optimal time-energy trajectory planning based on the complete model of the robot taking into account intrinsic and extrinsic constraints, the robot singularities and the task and environment requirements, is discussed. Then an adaptive feedback tracker is developed. This controller is of mixed type and consists of: on the one hand the predictive control which uses a precise model of the manipulator identified in real time, and gives the torque to apply on the articulations in order to assure the desirable movement, and on the other hand, it uses a nonlinear corrector composed of a proportional plus derivative control with adaptive gain chosen such that the error on the displacement and on the speed tends to zero. An adaptive estimation algorithm is also considered to identify on-line the structural variable parameters of the robot. Some numerical results are given, the real time implementation is also discussed.