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Path Optimization and Control of the Flexible Manipulator

Author: FanMeng
Tutor: LiuMingZhi
School: Xi'an University of Electronic Science and Technology
Course: Mechanical and Electronic Engineering
Keywords: Flexible Manipulator Optimal Control Neural Networks Predictive Control
CLC: TP241
Type: Master's thesis
Year: 2010
Downloads: 220
Quote: 2
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Abstract


Robotic arm as an important tool of the modern human automation industry , due to the large work space , flexibility , humans can not reach the environment , etc. , and a very wide range of applications in the industrial , aerospace and medical equipment . Relative to the rigid manipulator flexible manipulator has the advantages of light weight , load , smart , but also more and more people 's attention and study . Manipulator existence of redundant degrees of freedom in the feasible space work great will to complete the same tasks has brought many different possible options . Such as the robotic arm from the starting position to the end position , the feasible path have a good variety . This gives the controller design to bring a variety of strategies to select the desired movement , the performance of the controller design is also different . This article select the end to displacement shortest path as the expected implementation of the program , to design the controller . This controller to meet the control requirements , but also serve to improve the robotic arm work efficiency , saving hours of work, the role of space and fuel consumption . In this paper, the structural characteristics of the robot arm , two joint manipulator as Euler-Bernoulli beam model , based on the Lagrange equation theory to establish the dynamic model of the manipulator system . Beam 1 and beam 2 end displacement sum as the objective function , optimal control method to make this objective function to minimize , to seek to meet the requirements of the robotic arm movement shortest path and the corresponding joint angular displacement . System dynamic response analysis then through Newmarkβ law , the establishment of the neural network identification model of the flexible manipulator . Finally, the neural network predictive control to scroll through the intelligent control system optimization theory, and design a neural network for flexible manipulator trajectory tracking adjustment dynamic optimization . Computer simulations show that the control system can be well- controlled flexible manipulator to track the expected value of the amount of each state and at the same time to achieve the purpose of speed adjustment of the end of time .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator
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