Parameters identification and vibration control for modular manipulators

Yangmin Li, Yugang Liu, Xiaoping Liu, Zhaoyang Peng

Research output: Journal article publicationConference articleAcademic researchpeer-review

6 Citations (Scopus)

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 languageEnglish
Pages (from-to)3254-3259
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 9 Dec 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
Duration: 14 Sep 200319 Sep 2003

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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