Residual vibration reduction control after catching a falling steel sphere by a two-link catching flexible robot arm

This paper proposes the evolutionary learning acquisition method of the optimal joint angle trajectories of a flexible robot arm using the genetic algorithm is proposed, and the effects of the optimal joint angle trajectories obtained by the present evolutionary learning acquisition method on the residual vibration reduction are ascertained numerically and experimentally. In the construction of the evolutionary learning acquisition algorithm of the optimal joint angle trajectories, the joint angular velocity curves are depicted with fifth-order polynomials, and, by considering the boundary and constraint conditions, they are expressed by four parameters. Then, the residual vibrations of the flexible robot arm are expressed as a function of the chromosome consisting of four parameters, namely, four genes, and a fitness function of the genetic algorithm for the residual vibration reduction is defined. Furthermore, the numerical calculations have been carried out, and it is confirmed that the residual vibrations almost disappear. Moreover, the experimental results are demonstrated, and the usefulness of the present evolutionary learning acquisition method of the optimal joint angle trajectories of the flexible robot arm using the genetic algorithm is ascertained experimentally.

Download Full-text

Residual Vibration Reduction Control of a Two-Link Flexible Robot Arm Using Optimal Trajectory Planning based on Genetic Algorithm.

Journal of the Robotics Society of Japan ◽

10.7210/jrsj.19.905 ◽

2001 ◽

Vol 19 (7) ◽

pp. 905-912 ◽

Cited By ~ 2

Author(s):

Hiroyuki Kojima ◽

Tetsuji Kibe

Keyword(s):

Genetic Algorithm ◽

Trajectory Planning ◽

Optimal Trajectory ◽

Vibration Reduction ◽

Robot Arm ◽

Flexible Robot ◽

Residual Vibration ◽

Optimal Trajectory Planning

Download Full-text

Integration of model-based and sensor-based control for a two-link flexible robot arm

10.1109/icsyse.1990.203188 ◽

2002 ◽

Cited By ~ 4

Author(s):

J.T. Feddema ◽

G.R. Eisler ◽

D.J. Segalman

Keyword(s):

Robot Arm ◽

Flexible Robot ◽

Model Based

Download Full-text

Optimal control of a flexible robot arm

Computers & Structures ◽

10.1016/0045-7949(88)90398-7 ◽

1988 ◽

Vol 29 (3) ◽

pp. 459-467 ◽

Cited By ~ 16

Author(s):

James D. Lee ◽

Ben-Li Wang

Keyword(s):

Optimal Control ◽

Robot Arm ◽

Flexible Robot

Download Full-text

Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs

Volume 5A: 39th Mechanisms and Robotics Conference ◽

10.1115/detc2015-46503 ◽

2015 ◽

Cited By ~ 2

Author(s):

Peng Qi ◽

Hongbin Liu ◽

Lakmal Seneviratne ◽

Kaspar Althoefer

Keyword(s):

Preliminary Test ◽

Industrial Applications ◽

Robot Arm ◽

Kinematic Modeling ◽

Flexible Robot ◽

Element Analysis ◽

Robot Arms ◽

Environmental Interactions ◽

In Series ◽

Fea Simulation

Flexible robot arms have been developed for various medical and industrial applications because of their compliant structures enabling safe environmental interactions. This paper introduces a novel flexible robot arm comprising a number of elastically deformable planar spring elements arranged in series. The effects of flexure design variations on their layer compliance properties are investigated. Numerical studies of the different layer configurations are presented and finite Element Analysis (FEA) simulation is conducted. Based on the suspended platform’s motion of each planar spring, this paper then provides a new method for kinematic modeling of the proposed robot arm. The approach is based on the concept of simultaneous rotation and the use of Rodrigues’ rotation formula and is applicable to a wide class of continuum-style robot arms. At last, the flexible robot arms respectively integrated with two different types of compliance layers are prototyped. Preliminary test results are reported.

Download Full-text