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Energy minimization approach for a two-link flexible manipulator

Robot motion planning between two given configurations in the time domain has a great impact on robotic applications. In the presence of link flexibility, the problem becomes more difficult and critical to be solved. A two-link flexible manipulator is proposed in this study, where the manipulator�...

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Main Authors: Faris, Waleed Fekry, Ata, A.A, Sa'Adeh, M.Y
Format: Article
Language:English
Published: Sage 2009
Subjects:
TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
Online Access:http://irep.iium.edu.my/12529/4/JVC%2C_Energy_Minimization_For_Two_Link_Flexible_Manipulator.pdf
http://irep.iium.edu.my/12529/
http://jvc.sagepub.com
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spelling my.iium.irep.125292012-04-03T00:30:28Z http://irep.iium.edu.my/12529/ Energy minimization approach for a two-link flexible manipulator Faris, Waleed Fekry Ata, A.A Sa'Adeh, M.Y TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery Robot motion planning between two given configurations in the time domain has a great impact on robotic applications. In the presence of link flexibility, the problem becomes more difficult and critical to be solved. A two-link flexible manipulator is proposed in this study, where the manipulator's joints are required to undergo a rest-to-rest maneuvering. Two trajectories are assumed, a fourth order polynomial and soft motion trajectories1 the Genetic Algorithm is employed to optimize the unknown parameters of the fourth order trajectory in such away that minimizes the energy consumption during motion. The mathematical model of the manipulator is obtained using the extended Hamilton's principle, where the flexible links are treated using Euler-Bernoulli's beam theory. Simulation study for the optimized joints' torques for the two trajectories is introduced and a comparison between them is carried out based on the minimum energy consumption. © 2009 SAGE Publications. Sage 2009-04 Article REM application/pdf en http://irep.iium.edu.my/12529/4/JVC%2C_Energy_Minimization_For_Two_Link_Flexible_Manipulator.pdf Faris, Waleed Fekry and Ata, A.A and Sa'Adeh, M.Y (2009) Energy minimization approach for a two-link flexible manipulator. Journal of Vibration and Control, 15 (4). pp. 497-526. ISSN 1077-5463 http://jvc.sagepub.com 10.1177/1077546308095227
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
topic TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
spellingShingle TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
Faris, Waleed Fekry
Ata, A.A
Sa'Adeh, M.Y
Energy minimization approach for a two-link flexible manipulator
description Robot motion planning between two given configurations in the time domain has a great impact on robotic applications. In the presence of link flexibility, the problem becomes more difficult and critical to be solved. A two-link flexible manipulator is proposed in this study, where the manipulator's joints are required to undergo a rest-to-rest maneuvering. Two trajectories are assumed, a fourth order polynomial and soft motion trajectories1 the Genetic Algorithm is employed to optimize the unknown parameters of the fourth order trajectory in such away that minimizes the energy consumption during motion. The mathematical model of the manipulator is obtained using the extended Hamilton's principle, where the flexible links are treated using Euler-Bernoulli's beam theory. Simulation study for the optimized joints' torques for the two trajectories is introduced and a comparison between them is carried out based on the minimum energy consumption. © 2009 SAGE Publications.
format Article
author Faris, Waleed Fekry
Ata, A.A
Sa'Adeh, M.Y
author_facet Faris, Waleed Fekry
Ata, A.A
Sa'Adeh, M.Y
author_sort Faris, Waleed Fekry
title Energy minimization approach for a two-link flexible manipulator
title_short Energy minimization approach for a two-link flexible manipulator
title_full Energy minimization approach for a two-link flexible manipulator
title_fullStr Energy minimization approach for a two-link flexible manipulator
title_full_unstemmed Energy minimization approach for a two-link flexible manipulator
title_sort energy minimization approach for a two-link flexible manipulator
publisher Sage
publishDate 2009
url http://irep.iium.edu.my/12529/4/JVC%2C_Energy_Minimization_For_Two_Link_Flexible_Manipulator.pdf
http://irep.iium.edu.my/12529/
http://jvc.sagepub.com
_version_ 1643606631457488896
score 13.211869

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