Title :
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
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242092
