Multidisciplinary optimization of servodrives for robot manipulators

In this paper, a multiobjective optimization approach for designing a Manipulator Robot by simultaneously considering the mechanism, the controller and the servo drive subsystems is proposed. The integrated design problem is considered as a nonlinear multiobjective dynamic optimization problem, which relates the structural parameters, the robot controller and the selection of the ratio gear-motor from an industry catalog. A three dof manipulator robot and its controller are designed, where the performance design objectives are tracking error, manipulability measure and energy consumption.