کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413604 680631 2015 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A novel feedforward control technique for a flexible dual manipulator
ترجمه فارسی عنوان
تکنیک کنترل پیشگام جدید برای یک کنترل کننده دوبعدی قابل انعطاف است
کلمات کلیدی
برنامه ریزی مسیر مسیر صاف، کنترل لرزش، دستکاری انعطاف پذیر، تابع چندجمله ای
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی


• We propose a novel trajectory generation method for suppressing residual vibrations.
• We address the point-to-point motion task of a flexible dual manipulator.
• The combination of cycloidal and polynomial functions can generate a smooth trajectory.
• Multimode vibration control can be realized by driving the manipulator along an optimal trajectory.

This paper proposes a feedforward control technique for two flexible links attached to one motor to suppress residual vibrations in a point-to-point motion. In the proposed method, we attempt to express the trajectory of the joint angle using a combination of cycloidal and polynomial functions, which enables the easy generation of a smooth motion. The generated trajectory depends on the coefficients of the polynomial function. To minimize the residual vibrations of the two flexible links, the coefficients are tuned using a particle swarm optimization algorithm, which is a type of a metaheuristic algorithm. The optimal trajectory obtained by this approach can suppress residual vibrations; i.e., multimode vibration control can be realized. Simulations and experiments are performed to evaluate the applicability and effectiveness of the proposed method.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 35, October 2015, Pages 169–177
نویسندگان
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