Simultaneous optimization of a two-link flexible robot arm

DOI10.1002/1097-4563(200101)18:1%3C29::AID-ROB3%3E3.0.CO;2-CMaRDI QIDQ2709732zbMATH OpenFDO

Authors Ye Zhu, Jinhao Qiu, Junji Tani

Publication date 17 April 2001

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/1097-4563(200101)18:1%3C29::AID-ROB3%3E3.0.CO;2-C

zbMATH Keywords

genetic algorithmoptimal designstructural control designtwo-link flexible robot arm

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Thin bodies, structures (74K99) Optimization of other properties in solid mechanics (74P10)

Review text

The authors deal with an integrated structural control design of a robot arm consisting of two flexible links, a fixed joint, a moving joint, and a tip load, having two main advantages: less weight and low energy consumption. The structural and control parameters of the whole system are optimized simultaneously by using a genetic algorithm. The results are compared with those obtained for an arm with uniform links, and some numerical results are presented in diagrams.

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Cites work

• A Finite Element/Lagrange Approach to Modeling Lightweight Flexible Manipulators
• scientific article; zbMATH DE number 194544 (Why is no real title available?)
• Sliding Mode Control and Elastic Mode Stabilization of a Robotic Arm With Flexible Links
• Variable structure systems with sliding modes
• Variable structure trajectory control of an elastic robotic arm

Cited in

(13)

• Structural optimization of slender robot arm based on sensitivity analysis
• Reliability optimization of two-link flexible manipulator
• Synergetic structure-control design via a hybrid gradient-evolutionary algorithm
• Energy minimization approach for a two-link flexible manipulator
• Optimum structural design of robotic manipulators with fiber reinforced composite materials
• Dynamic equations for a two-link flexible robot arm
• scientific article; zbMATH DE number 4085087 (Why is no real title available?)
• Optimum design of high-speed flexible robotic arms with dynamic behavior constraints
• A review of optimization of structures subjected to transient loads
• Two‐arm kinematic posture optimization for fixtureless assembly
• Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator
• On the control of two-link flexible robot arm with nonuniform cross-section
• In-plane bending vibration of L-shaped cantilever nanobeams carrying a tip nanoparticle by nonlocal elasticity

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