Parameters identification and vibration control for modular manipulators

Author

Li, Yangmin ; Liu, Yugang ; Liu, Xiaoping ; Peng, Zhaoyang

Author_Institution

Dept. of Electromech. Eng., Univ. of Macau, Macao, China

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3254

Abstract

The joint parameters of redundant manipulators are prerequisite data for effective dynamics control. An identification method via fuzzy theory and Genetic Algorithm has been presented to study modular redundant robots. The Genetic Algorithm is used in the fuzzy optimization expecting to obtain global optimal solutions. Experimental modal analysis and Finite Element Method have been exploited in dynamics modeling. The joint parameters of a 9-DOF modular redundant robot have been identified. Active vibration control has been approached to a simplified 4-DOF modular manipulator by DOF reduction to the 9-DOF modular manipulator.

Keywords

control system synthesis; finite element analysis; fuzzy set theory; genetic algorithms; neural nets; optimal control; parameter estimation; redundant manipulators; vibration control; degrees of freedom; finite element method; fuzzy optimization; fuzzy set theory; genetic algorithm; modular manipulators; modular redundant robot; parameters identification; redundant manipulators; vibration control; Accelerometers; Damping; Finite element methods; Genetic algorithms; Manipulator dynamics; Modal analysis; Parameter estimation; Robots; Transfer functions; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242092

Filename

1242092