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Energy Minimization Approach for a Two-link Flexible Manipulator

Department of Mechanical Engineering, Faculty of Engineering, International Islamic University Malaysia, Kuala Lumpur 50728, Malaysia waleed{at}iiu.edu.my

A.A. Ata

Department of Engineering Mathematics and Physics, Faculty of Engineering, Alexandria University, Alexandria 21544, Egypt

M.Y. Sa'adeh

Department of Mechatronics Engineering, Faculty of Engineering, International Islamic University Malaysia, Kuala Lumpur 50728, Malaysia

Robot motion planning between two given configurations in the time domain has a great impact on robotic applications. In the presence of link flexibility, the problem becomes more difficult and critical to be solved. A two-link flexible manipulator is proposed in this study, where the manipulator's joints are required to undergo a rest-to-rest maneuvering. Two trajectories are assumed, a fourth order polynomial and soft motion trajectories1 the Genetic Algorithm is employed to optimize the unknown parameters of the fourth order trajectory in such away that minimizes the energy consumption during motion. The mathematical model of the manipulator is obtained using the extended Hamilton's principle, where the flexible links are treated using Euler-Bernoulli's beam theory. Simulation study for the optimized joints' torques for the two trajectories is introduced and a comparison between them is carried out based on the minimum energy consumption.

Key Words: Flexible manipulator • genetic algorithm • optimal trajectory • Bernoulli-Euler beam • Hamilton's principle • soft motion trajectory.

This version was published on April 1, 2009

Journal of Vibration and Control, Vol. 15, No. 4, 497-526 (2009)
DOI: 10.1177/1077546308095227


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