Temat: flexible manipulator - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator
Autorzy:: Subudhi, B.
Ranasingh, S.
Swain, A. K.
Powiązania:: https://bibliotekanauki.pl/articles/229971.pdf
Data publikacji:: 2011
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: flexible manipulator
genetic algorithm
bacteria foraging
fitness function
Opis:: Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.
Źródło:: Archives of Control Sciences; 2011, 21, 3; 269-285
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Optimal point to point path planning of flexible manipulator under large deformation by using harmony search method
Autorzy:: Esfandiar, H.
Korayem, M. H.
Powiązania:: https://bibliotekanauki.pl/articles/280605.pdf
Data publikacji:: 2016
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: meta-heuristic optimization
harmony search
large deformation
flexible manipulator
Opis:: This paper aims at planning an optimal point to point path for a flexible manipulator under large deformation. For this purpose, the researchers use a direct method and meta-heuristic optimization process. In this paper, the maximum load carried by the manipulator and the minimum transmission time are taken as objective functions of the optimization process to get optimal path profiles. Kinematic constraints, the maximum velocity and acceleration, the dynamic constraint of the maximum torque applied to the arms and also the constraint of final point accuracy are discussed. For the optimization process, the Harmony Search (HS) method is used. To evaluate the effectiveness of the approach proposed, simulation studies are reviewed by considering a two-link flexible manipulator with the fixed base. The findings indicate that the proposed method is in power of dealing with nonlinear dynamics of the system. Furthermore, the results obtained by rigid, small and large deformation models are compared with each other.
Źródło:: Journal of Theoretical and Applied Mechanics; 2016, 54, 1; 179-193
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Evolutionary computing approaches to optimum design of fuzzy logic controller for a flexible robot system
Autorzy:: Subudhi, B.
Ranasingh, S.
Powiązania:: https://bibliotekanauki.pl/articles/230107.pdf
Data publikacji:: 2013
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: flexible manipulator
fuzzy logic
genetic algorithm
bacteria foraging optimization
tip position tracking
Opis:: This paper presents the design of a Fuzzy Logic Controller (FLC) whose parameters are optimized by using Genetic Algorithm (GA) and Bacteria Foraging Optimization (BFO) for tip position control of a single link flexible manipulator. The proposed FLC is designed by minimizing the fitness function, which is defined as a function of tip position error, through GA and BFO optimization algorithms achieving perfect tip position tracking of the single link flexible manipulator. Then the tip position responses obtained by using both the above controllers are compared to suggest the best controller for the tip position tracking.
Źródło:: Archives of Control Sciences; 2013, 23, 4; 395-412
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: The optimal design of fractional sliding mode control based on multi-objective genetic algorithms for a two-link flexible manipulator
Autorzy:: Pouya, M.
Pashaki, P. V.
Powiązania:: https://bibliotekanauki.pl/articles/102531.pdf
Data publikacji:: 2017
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:: fractional calculations
sliding mode control
two-link flexible manipulator
Pareto optimal
genetic algorithm
Opis:: In this paper a novel optimal approach of control strategy is introduced by applying fractional calculus in the structure of sliding mode control for a range of dynamics system liable to ambiguity. So, a fractional sliding mode control was designed for dynamics of the two-link rigid-flexible manipulator. Furthermore, a multi-objective genetic algorithm was proposed in order to find the ideal variable structure of the sliding mode control. Optimal variables were achieved by the optimization of the conventional sliding mode control. Then the performance of both the conventional and the fractional sliding mode control were compared with respect to optimal variables. Results indicated that by applying the optimized fractional sliding mode control, the system’s error was significantly reduced consequently tracking the desired value was done with a higher degree of accuracy and a smoother control action was achieved.
Źródło:: Advances in Science and Technology. Research Journal; 2017, 11, 3; 56-65
2299-8624
Pojawia się w:: Advances in Science and Technology. Research Journal
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: Payload Maximization for Mobile Flexible Manipulators in Environment with an Obstacle
Autorzy:: Heidari, H.
Haghpanahi, M.
Korayem, M. H.
Powiązania:: https://bibliotekanauki.pl/articles/279299.pdf
Data publikacji:: 2015
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: flexible link
nonholonomic mobile manipulator
optimal control
obstacle
path planning
Opis:: A mobile flexible manipulator is developed in order to achieve high performance requirements such as high-speed operation, increased high payload to mass ratio, less weight, and safer operation due to reduced inertia. Hence, this paper presents a method for finding the Maximum Allowable Dynamic Load (MADL) of geometrically nonlinear flexible link mobile manipulators. The full dynamic model of a wheeled mobile base and the mounted flexible manipulator is considered with respect to dynamics of non-holonomic constraint in environment including an obstacle. In dynamical analysis, an efficient model is employed to describe the treatment of a flexible structure in which both the geometric elastic nonlinearity and the foreshortening effects are considered. Then, a path planning algorithm is developed to find the maximum payload that the optimal strategy is based on the indirect solution to the open-loop optimal control problem. In order to verify the effectiveness of the presented algorithm, several simulation studies are carried out for finding the optimal path between two points in the presence of obstacles. The results clearly show the effect of flexibility and the proposed approach on mobile flexible manipulators.
Źródło:: Journal of Theoretical and Applied Mechanics; 2015, 53, 4; 911-923
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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