Parameters identification and vibration control for modular manipulators

Yangmin Li; Yugang Liu; Xiaoping Liu; Zhaoyang Peng

Parameters identification and vibration control for modular manipulators

Yangmin Li, Yugang Liu, Xiaoping Liu, Zhaoyang Peng

Research output: Journal article publication › Conference article › Academic research › peer-review

Abstract

The joint parameters of redundant manipulators are prerequisite data for effective dynamics control. An identification method via fuzzy theory and Genetic Algorithm has been presented to study modular redundant robots. The Genetic Algorithm is used in the fuzzy optimization expecting to obtain global optimal solutions. Experimental modal analysis and Finite Element Method have been exploited in dynamics modeling. The joint parameters of a 9-DOF modular redundant robot have been identified. Active vibration control has been approached to a simplified 4-DOF modular manipulator by DOF reduction to the 9-DOF modular manipulator.

Original language	English
Pages (from-to)	3254-3259
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
Publication status	Published - 9 Dec 2003
Externally published	Yes
Event	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan Duration: 14 Sept 2003 → 19 Sept 2003

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Cite this

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title = "Parameters identification and vibration control for modular manipulators",

abstract = "The joint parameters of redundant manipulators are prerequisite data for effective dynamics control. An identification method via fuzzy theory and Genetic Algorithm has been presented to study modular redundant robots. The Genetic Algorithm is used in the fuzzy optimization expecting to obtain global optimal solutions. Experimental modal analysis and Finite Element Method have been exploited in dynamics modeling. The joint parameters of a 9-DOF modular redundant robot have been identified. Active vibration control has been approached to a simplified 4-DOF modular manipulator by DOF reduction to the 9-DOF modular manipulator.",

author = "Yangmin Li and Yugang Liu and Xiaoping Liu and Zhaoyang Peng",

year = "2003",

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language = "English",

volume = "3",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

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T1 - Parameters identification and vibration control for modular manipulators

AU - Li, Yangmin

AU - Liu, Yugang

AU - Liu, Xiaoping

AU - Peng, Zhaoyang

PY - 2003/12/9

Y1 - 2003/12/9

N2 - The joint parameters of redundant manipulators are prerequisite data for effective dynamics control. An identification method via fuzzy theory and Genetic Algorithm has been presented to study modular redundant robots. The Genetic Algorithm is used in the fuzzy optimization expecting to obtain global optimal solutions. Experimental modal analysis and Finite Element Method have been exploited in dynamics modeling. The joint parameters of a 9-DOF modular redundant robot have been identified. Active vibration control has been approached to a simplified 4-DOF modular manipulator by DOF reduction to the 9-DOF modular manipulator.

AB - The joint parameters of redundant manipulators are prerequisite data for effective dynamics control. An identification method via fuzzy theory and Genetic Algorithm has been presented to study modular redundant robots. The Genetic Algorithm is used in the fuzzy optimization expecting to obtain global optimal solutions. Experimental modal analysis and Finite Element Method have been exploited in dynamics modeling. The joint parameters of a 9-DOF modular redundant robot have been identified. Active vibration control has been approached to a simplified 4-DOF modular manipulator by DOF reduction to the 9-DOF modular manipulator.

UR - http://www.scopus.com/inward/record.url?scp=0345327781&partnerID=8YFLogxK

M3 - Conference article

SN - 1050-4729

VL - 3

SP - 3254

EP - 3259

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2003 IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -

Parameters identification and vibration control for modular manipulators

Abstract

ASJC Scopus subject areas

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