Energy minimization approach for a two-link flexible manipulator

DOI10.1177/1077546308095227MaRDI QIDQ2850587zbMATH OpenOpenAlexFDO

Authors W. F. Faris, A. A. Ata, M. Y. Sa'adeh

Publication date 27 September 2013

Published in Journal of Vibration and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1177/1077546308095227

zbMATH Keywords

genetic algorithmHamilton's principleBernoulli-Euler beamoptimal trajectoryflexible manipulatorsoft motion trajectory

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Vibrations in dynamical problems in solid mechanics (74H45) Rods (beams, columns, shafts, arches, rings, etc.) (74K10) Optimization of other properties in solid mechanics (74P10)

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Cites work

• scientific article; zbMATH DE number 194544 (Why is no real title available?)
• scientific article; zbMATH DE number 3267206 (Why is no real title available?)
• A feedforward decoupling concept for the control of elastic robots
• Approximate Optimal Trajectories for Flexible-Link Manipulator Slewing Using Recursive Quadratic Programming
• Inverse Dynamics of Flexible Robot Arms: Modeling and Computation for Trajectory Control

Cited in

(9)

• Global mode method for dynamic modeling of a flexible-link flexible-joint manipulator with tip mass
• Determination method for power-saved driving motions of manipulators by heuristic algorithms (in case of PTP control)
• Nonlinear output feedback control of a flexible link using adaptive neural network: controller design
• Energy minimization of redundant manipulators using Generalized Pattern Search
• Design and Analysis of Jittering Mitigator for Robot Arm-Tip
• A constrained assumed modes method for dynamics of a flexible planar serial robot with prismatic joints
• Vibration-energy-optimal trajectory planning for flexible servomotor systems with state constraints
• Minimization of Power Losses in Cooperating Manipulators
• Nonlinear output feedback control of a flexible link using adaptive neural network: stability analysis

Describes a project that uses

Uses Software

• Genetic Algorithm and Direct Search Toolbox

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