Dynamic Modelling of a Single-Link Flexible Manipulator Using Parametric Techniques with Genetic Algorithms

被引：4
|
作者：
Zain, B. A. Md [1 ]
Tokhi, M. O. [1 ]
Salleh, S. Md [1 ]
机构：
[1] Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield S10 2TN, S Yorkshire, England
来源：
2009 THIRD UKSIM EUROPEAN SYMPOSIUM ON COMPUTER MODELING AND SIMULATION (EMS 2009) | 2009年
关键词：
Genetic Algorithm; Recursive Least Square; Hybrid GARLS; Single-link Flexible Manipulator;
D O I：
10.1109/EMS.2009.85
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper presents development of an approach with recursive least squares (RLS) and genetic algorithms (GAs) for modelling of single-link flexible manipulators. Investigations focus on modelling the system from input torque to hub-angle, hub-velocity and end-point acceleration outputs. Both GA and combined GA and RLS (GARLS) are used to model the system using the autoregressive moving average (ARMA) model structure with one-step-ahead prediction. The mean-squared error (MSE) of the output is used as the fitness function Results are presented using data collected from an experimental flexible manipulator rig, and a comparative assessment of the GA, RLS and GARLS approaches in modelling the system is presented and discussed.
引用
收藏
页码：373 / 378
页数：6
相关论文
共 50 条
  • [1] Dynamic modelling of a single-link flexible manipulator: parametric and non-parametric approaches
    Shaheed, MH
    Tokhi, MO
    [J]. ROBOTICA, 2002, 20 : 93 - 109
  • [2] Modelling and open-loop control of a single-link flexible manipulator with genetic algorithms
    Shaheed, MH
    Tokhi, MO
    Chipperfield, AJ
    Azad, AKM
    [J]. JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL, 2001, 20 (01) : 39 - 55
  • [3] Modelling and H∞ control of a single-link flexible manipulator
    Sutton, RP
    Halikias, GD
    Plummer, AR
    Wilson, DA
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 1999, 213 (I2) : 85 - 104
  • [4] Finite element method to dynamic modelling of an underwater flexible single-link manipulator
    Al-khafaji, Ali A. M.
    Darus, Intan Z. Mat
    [J]. JOURNAL OF VIBROENGINEERING, 2014, 16 (07) : 3620 - 3636
  • [5] Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables
    Tang, Lewei
    Gouttefarde, Marc
    Sun, Haining
    Yin, Lairong
    Zhou, Changjiang
    [J]. MECHANISM AND MACHINE THEORY, 2021, 162
  • [6] A DYNAMIC-MODEL ON A SINGLE-LINK FLEXIBLE MANIPULATOR
    CHANG, LW
    GANNON, KP
    [J]. JOURNAL OF VIBRATION AND ACOUSTICS-TRANSACTIONS OF THE ASME, 1990, 112 (01): : 138 - 143
  • [7] Dynamic modelling of a single-link flexible manipulator system: a particle swarm optimisation approach
    Alam, M. S.
    Tokhi, M. O.
    [J]. JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL, 2007, 26 (01) : 57 - 72
  • [8] Vibration control of a single-link flexible manipulator using command shaping techniques
    Mohamed, Z
    Tokhi, MO
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2002, 216 (I2) : 191 - 210
  • [9] Modelling of a single-link flexible manipulator system: Theoretical and practical investigations
    Tokhi, MO
    Azad, AKM
    [J]. ROBOTICA, 1996, 14 : 91 - 102
  • [10] A New Approach to Parametric Identification of a Single-Link Flexible-Joint Manipulator
    Jeng Tze Huang
    [J]. Journal of Intelligent and Robotic Systems, 2003, 37 : 273 - 284
12345