Title :
Optimum structure design of flexible manipulators based on GA
Author :
Cui, Ling-li ; Xiao, Zhi-quan
Author_Institution :
Inst. of Autom., Chinese Acad. of Sci., Beijing, China
Abstract :
This paper addresses the issues related to the design of optimum structure for lightweight, flexible manipulators under the total weight constraint. The optimum design problem is formulated by establishing a mathematical model of flexible manipulator based on the finite difference method, the optimal solution is obtained by using an improved real-code genetic algorithms (GA). Numeric simulation has been conducted and the results have demonstrated the effectiveness of the proposed method.
Keywords :
design for quality; finite difference methods; flexible manipulators; genetic algorithms; structural engineering; design variables; finite difference method; flexible manipulators; genetic algorithms; optimum structure design; weight constraint; Algorithm design and analysis; Bibliographies; Control design; Energy consumption; Finite difference methods; Genetic algorithms; Manipulator dynamics; Mathematical model; Numerical simulation; Structural beams;
Conference_Titel :
Intelligent Transportation Systems, 2003. Proceedings. 2003 IEEE
Print_ISBN :
0-7803-8125-4
DOI :
10.1109/ITSC.2003.1252758
