Dynamic Modelling of Flexible Manipulator System Using Genetic Algorithm

Exponential-based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System

This paper presents an exponential-based spiral dynamic algorithm (SDA) as an improved version of the original SDA. A simple structure with a unique feature of a spiral model in SDA leads the algorithm achieving fast convergence speed and short computation time. However, adopting a constant radius and a constant angle into the spiral model of SDA causes the algorithm to trap into local optima s...

Role of batch size in scheduling optimization of flexible manufacturing system using genetic algorithm

Flexible manufacturing system (FMS) readily addresses the dynamic needs of the customers in terms of variety and quality. At present, there is a need to produce a wide range of quality products in limited time span. On-time delivery of customers’ orders is critical in make-to-order (MTO) manufacturing systems. The completion time of the orders depends on several factors including arrival rate, ...

Dynamic modelling and parameter estimation of a hydraulic robot manipulator using a multi-objective genetic algorithm

Control of a Flexible Manipulator Using a Sliding Mode Controller with Genetic Algorithm Tuned Manipulator Dimension

The tip position control of a single-link flexible manipulator is considered in this paper. The cross-sectional dimension of the manipulator is tuned by genetic algorithms such that the first vibration mode dominates the higher order vibrations. A sliding mode controller of reduced dimension is employed to control the manipulator using the rigid and vibration measurements as feedback. Control e...

Dynamic Modelling of a Two-link Flexible Robot Manipulator

This paper presents dynamic modelling of a two-link flexible manipulator system. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. A two-link flexible manipulator incorporating structural damping, hub inertia and payload is considered. An explicit, complete, and accurate nonlinear dyna...