Title :
Parameter identification and vibration control in Modular manipulators
Author :
Li, Yangmin ; Liu, Yugang ; Liu, Xiaoping ; Peng, Zhaoyang
Abstract :
The joint parameters of modular manipulators are prerequisite data for effective dynamic control. A method for identifying these parameters using fuzzy logic was devised to study modular redundant robots. Experimental modal analysis and finite element modeling were exploited to model the dynamics. The joint parameters of a nine degrees-of-freedom (9-DOF) modular robot have been identified. In addition, active vibration control based on a neural network and a genetic algorithm were investigated. Ideal control simulation results for a reduced dynamic model of the 9-DOF modular robot were then derived.
Keywords :
finite element analysis; genetic algorithms; identification; manipulator dynamics; neural nets; time-varying systems; vibration control; dynamic control; experimental modal analysis; finite element modeling; fuzzy logic; genetic algorithm; modular manipulators; modular robot; neural network; parameter identification; vibration control; Damping; Electrons; Manipulator dynamics; Parameter estimation; Robots; Stress; Torque control; Vehicle dynamics; Vibration control; Wheels; Genetic algorithm; modular robot; neural network; parameter identification; vibration control;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2004.839035
