By Topic

Optimal trajectory planning of a two-link flexible robot arm based on genetic algorithm for residual vibration reduction

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kojima, H. ; Dept. of Mech. & Syst. Eng., Gunma Univ., Japan ; Kibe, T.

The optimal trajectory planning method for residual vibration reduction of a two-link flexible robot arm is proposed. The two-link flexible robot arm consists of a first rigid link and a second flexible link. The first and second joint angular velocities are described by use of four cubic polynomial functions. Then, applying both the constraint conditions and the initial and final conditions of the joint angular velocities, the trajectory of the two-link flexible robot arm is expressed by use of the four unknown parameters. Then, the fitness function of the genetic algorithm for the residual vibration reduction of the second flexible link is defined using the four unknown parameters as the genes, and the optimal trajectory planning algorithm is constructed by use of the genetic algorithm. Furthermore, the numerical calculations and the experiments were carried out, and it is confirmed that the residual vibrations can be greatly reduced

Published in:

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference: