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Optimal input shaping for vibration control of a flexible manipulator using GA

This paper presents optimization of input shaping technique using genetic algorithms (GAs) for a planar single link flexible manipulator system with varying payload. An unshaped bang-bang torque is shaped by convolving a sequence of impulses with an input shaper. The time locations of the impulses a...

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Main Authors: Rudrusamy, Bhuvendra, Mohamed, Zaharuddin
Format: Conference or Workshop Item
Language:English
Published: 2005
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/1863/1/Zahar05_Optimal_Input_Shaping.pdf
http://eprints.utm.my/id/eprint/1863/
https://books.google.com.my/books/about/ICMT_2005.html?id=qj0UDAEACAAJ&redir_esc=y
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id my.utm.1863
record_format eprints
spelling my.utm.18632017-06-12T02:50:48Z http://eprints.utm.my/id/eprint/1863/ Optimal input shaping for vibration control of a flexible manipulator using GA Rudrusamy, Bhuvendra Mohamed, Zaharuddin TK Electrical engineering. Electronics Nuclear engineering This paper presents optimization of input shaping technique using genetic algorithms (GAs) for a planar single link flexible manipulator system with varying payload. An unshaped bang-bang torque is shaped by convolving a sequence of impulses with an input shaper. The time locations of the impulses are determined using GA. The simulation work is designed in Matlab based environment and the responses are presented in the time and frequency domains. The performance of optimal input shaper is compared to the bang-bang torque in terms of maneuver speed, transient and steady state responses, computational complexity and level of reduction at resonances mode. 2005-12-04 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/1863/1/Zahar05_Optimal_Input_Shaping.pdf Rudrusamy, Bhuvendra and Mohamed, Zaharuddin (2005) Optimal input shaping for vibration control of a flexible manipulator using GA. In: Proceeding of the 9th International Conference on Mechatronics Technology, 5-8 December 2005, Kuala Lumpur. https://books.google.com.my/books/about/ICMT_2005.html?id=qj0UDAEACAAJ&redir_esc=y
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Rudrusamy, Bhuvendra
Mohamed, Zaharuddin
Optimal input shaping for vibration control of a flexible manipulator using GA
description This paper presents optimization of input shaping technique using genetic algorithms (GAs) for a planar single link flexible manipulator system with varying payload. An unshaped bang-bang torque is shaped by convolving a sequence of impulses with an input shaper. The time locations of the impulses are determined using GA. The simulation work is designed in Matlab based environment and the responses are presented in the time and frequency domains. The performance of optimal input shaper is compared to the bang-bang torque in terms of maneuver speed, transient and steady state responses, computational complexity and level of reduction at resonances mode.
format Conference or Workshop Item
author Rudrusamy, Bhuvendra
Mohamed, Zaharuddin
author_facet Rudrusamy, Bhuvendra
Mohamed, Zaharuddin
author_sort Rudrusamy, Bhuvendra
title Optimal input shaping for vibration control of a flexible manipulator using GA
title_short Optimal input shaping for vibration control of a flexible manipulator using GA
title_full Optimal input shaping for vibration control of a flexible manipulator using GA
title_fullStr Optimal input shaping for vibration control of a flexible manipulator using GA
title_full_unstemmed Optimal input shaping for vibration control of a flexible manipulator using GA
title_sort optimal input shaping for vibration control of a flexible manipulator using ga
publishDate 2005
url http://eprints.utm.my/id/eprint/1863/1/Zahar05_Optimal_Input_Shaping.pdf
http://eprints.utm.my/id/eprint/1863/
https://books.google.com.my/books/about/ICMT_2005.html?id=qj0UDAEACAAJ&redir_esc=y
_version_ 1643643436323045376
score 13.211869

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