Energy minimization approach for a two-link flexible manipulator

Robot motion planning between two given configurations in the time domain has a great impact on robotic applications. In the presence of link flexibility, the problem becomes more difficult and critical to be solved. A two-link flexible manipulator is proposed in this study, where the manipulator�...

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Main Authors:	Faris, Waleed Fekry, Ata, A.A, Sa'Adeh, M.Y
Format:	Article
Language:	English
Published:	Sage 2009
Subjects:	TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery
Online Access:	http://irep.iium.edu.my/12529/ http://irep.iium.edu.my/12529/ http://irep.iium.edu.my/12529/ http://irep.iium.edu.my/12529/4/JVC%2C_Energy_Minimization_For_Two_Link_Flexible_Manipulator.pdf

id	iium-12529
recordtype	eprints
spelling	iium-125292012-04-03T00:30:28Z http://irep.iium.edu.my/12529/ Energy minimization approach for a two-link flexible manipulator Faris, Waleed Fekry Ata, A.A Sa'Adeh, M.Y TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery Robot motion planning between two given configurations in the time domain has a great impact on robotic applications. In the presence of link flexibility, the problem becomes more difficult and critical to be solved. A two-link flexible manipulator is proposed in this study, where the manipulator's joints are required to undergo a rest-to-rest maneuvering. Two trajectories are assumed, a fourth order polynomial and soft motion trajectories1 the Genetic Algorithm is employed to optimize the unknown parameters of the fourth order trajectory in such away that minimizes the energy consumption during motion. The mathematical model of the manipulator is obtained using the extended Hamilton's principle, where the flexible links are treated using Euler-Bernoulli's beam theory. Simulation study for the optimized joints' torques for the two trajectories is introduced and a comparison between them is carried out based on the minimum energy consumption. © 2009 SAGE Publications. Sage 2009-04 Article PeerReviewed application/pdf en http://irep.iium.edu.my/12529/4/JVC%2C_Energy_Minimization_For_Two_Link_Flexible_Manipulator.pdf Faris, Waleed Fekry and Ata, A.A and Sa'Adeh, M.Y (2009) Energy minimization approach for a two-link flexible manipulator. Journal of Vibration and Control, 15 (4). pp. 497-526. ISSN 1077-5463 http://jvc.sagepub.com 10.1177/1077546308095227
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery
spellingShingle	TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery Faris, Waleed Fekry Ata, A.A Sa'Adeh, M.Y Energy minimization approach for a two-link flexible manipulator
description	Robot motion planning between two given configurations in the time domain has a great impact on robotic applications. In the presence of link flexibility, the problem becomes more difficult and critical to be solved. A two-link flexible manipulator is proposed in this study, where the manipulator's joints are required to undergo a rest-to-rest maneuvering. Two trajectories are assumed, a fourth order polynomial and soft motion trajectories1 the Genetic Algorithm is employed to optimize the unknown parameters of the fourth order trajectory in such away that minimizes the energy consumption during motion. The mathematical model of the manipulator is obtained using the extended Hamilton's principle, where the flexible links are treated using Euler-Bernoulli's beam theory. Simulation study for the optimized joints' torques for the two trajectories is introduced and a comparison between them is carried out based on the minimum energy consumption. © 2009 SAGE Publications.
format	Article
author	Faris, Waleed Fekry Ata, A.A Sa'Adeh, M.Y
author_facet	Faris, Waleed Fekry Ata, A.A Sa'Adeh, M.Y
author_sort	Faris, Waleed Fekry
title	Energy minimization approach for a two-link flexible manipulator
title_short	Energy minimization approach for a two-link flexible manipulator
title_full	Energy minimization approach for a two-link flexible manipulator
title_fullStr	Energy minimization approach for a two-link flexible manipulator
title_full_unstemmed	Energy minimization approach for a two-link flexible manipulator
title_sort	energy minimization approach for a two-link flexible manipulator
publisher	Sage
publishDate	2009
url	http://irep.iium.edu.my/12529/ http://irep.iium.edu.my/12529/ http://irep.iium.edu.my/12529/ http://irep.iium.edu.my/12529/4/JVC%2C_Energy_Minimization_For_Two_Link_Flexible_Manipulator.pdf
first_indexed	2023-09-18T20:21:43Z
last_indexed	2023-09-18T20:21:43Z
_version_	1777408151068344320

Energy minimization approach for a two-link flexible manipulator

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