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
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