DocumentCode
2398153
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
Volume
2
fYear
2003
fDate
12-15 Oct. 2003
Firstpage
1622
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Transportation Systems, 2003. Proceedings. 2003 IEEE
Print_ISBN
0-7803-8125-4
Type
conf
DOI
10.1109/ITSC.2003.1252758
Filename
1252758
Link To Document