Vibration suppression of manipulator using quantum genetic algorithm

Vibration is one of the most important factors that decrease the service life of the manipulator. It can intensify the mechanical wear and reduce accuracy significantly. Except mechanical clearance and joints rotation, trajectory shape along the knot points also effects the vibration of the manipulator. Cubic spline is the common used interpolating method of trajectory planning. Although it can obtain continues trajectory and smooth acceleration, the jerk changes drastically near the given knot points. To overcome this problem, the Quantum Genetic Algorithm (QGA) is used to control the coefficients of cubic spline interpolating method. The simulation is carried out by using the model of a FANUC 200ic manipulator. The trajectory, acceleration and jerk are simulated for six joints separately. It is shown that by using QGA, both the acceleration and jerk become much smoother and the amplitude of jerk is reduced. This algorithm is efficient in vibration suppression for manipulator.