Energy Minimization Approach for a Two-link Flexible Manipulator

DOI10.1177/1077546308095227zbMath1272.74260OpenAlexW2113865101MaRDI QIDQ2850587

M. Y. Sa'Adeh, W. F. Faris, Atef A. Ata

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 principleoptimal trajectoryBernoulli-Euler beamflexible manipulatorsoft motion trajectory

Mathematics Subject Classification ID

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

Related Items (5)

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 ⋮ Global mode method for dynamic modeling of a flexible-link flexible-joint manipulator with tip mass ⋮ Nonlinear output feedback control of a flexible link using adaptive neural network: stability analysis ⋮ Nonlinear output feedback control of a flexible link using adaptive neural network: controller design

Uses Software

• Genetic Algorithm and Direct Search Toolbox

Cites Work

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• Inverse Dynamics of Flexible Robot Arms: Modeling and Computation for Trajectory Control
• A feedforward decoupling concept for the control of elastic robots
• Approximate Optimal Trajectories for Flexible-Link Manipulator Slewing Using Recursive Quadratic Programming

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