Optimal input shaping for vibration control of a flexible manipulator using genetic algorithm

This thesis presents optimization of input shaping technique for vibration control of a flexible robot manipulator using genetic algorithms (GA). This simulation work is designed in Matlab based environment with sampling frequency of 2 kHz and implemented on a Pentium 4 2.66 GHz processor and the re...

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Main Author:	Rudrusamy, Bhuvendra
Format:	Thesis
Language:	English
Published:	2005
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/5292/1/BhuvendraRudrusamyMFKE2005.pdf
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spelling	my-utm-ep.52922018-02-28T08:21:01Z Optimal input shaping for vibration control of a flexible manipulator using genetic algorithm 2005-11 Rudrusamy, Bhuvendra TK Electrical engineering. Electronics Nuclear engineering This thesis presents optimization of input shaping technique for vibration control of a flexible robot manipulator using genetic algorithms (GA). This simulation work is designed in Matlab based environment with sampling frequency of 2 kHz and implemented on a Pentium 4 2.66 GHz processor and the responses are presented in time and frequency domains. The simulation can be repeated for different payload of the system varying from 0 to 100g. In this work, a single link flexible robot manipulator that moves in horizontal plane is considered. Modeling is done using FE method where the system is divided into 10 elements and the damping ratio of the system are deduced as 0.026, 0.038 and 0.040 for the first three vibration mode respectively. The input shaping technique is used to reduce vibrations in the system. This method requires estimated values of natural frequencies and damping ratios to generate impulse sequences. It is noted that the input shaping control technique is a better control technique compared to the bang-bang torque input control technique. It can be further optimized by using GA, by determining the optimal natural frequencies to cancel the resonance modes in the system and thus reducing the vibrations. For input shaping with genetic algorithm (ISGA) versus bang-bang (BB) and ISGA versus input shaping (IS), the percentages of vibration improvement in term of area representation is about 2720.03% and 28.57% respectively. In this work, GA optimization method not only reduces the vibrations, but also reduces time delay. GA can also be used offline or online to tune the system to achieve better performance due to modeling error. However, GA with input shaping technique increases the time and complexity of Matlab simulation. 2005-11 Thesis http://eprints.utm.my/id/eprint/5292/ http://eprints.utm.my/id/eprint/5292/1/BhuvendraRudrusamyMFKE2005.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Rudrusamy, Bhuvendra Optimal input shaping for vibration control of a flexible manipulator using genetic algorithm
description	This thesis presents optimization of input shaping technique for vibration control of a flexible robot manipulator using genetic algorithms (GA). This simulation work is designed in Matlab based environment with sampling frequency of 2 kHz and implemented on a Pentium 4 2.66 GHz processor and the responses are presented in time and frequency domains. The simulation can be repeated for different payload of the system varying from 0 to 100g. In this work, a single link flexible robot manipulator that moves in horizontal plane is considered. Modeling is done using FE method where the system is divided into 10 elements and the damping ratio of the system are deduced as 0.026, 0.038 and 0.040 for the first three vibration mode respectively. The input shaping technique is used to reduce vibrations in the system. This method requires estimated values of natural frequencies and damping ratios to generate impulse sequences. It is noted that the input shaping control technique is a better control technique compared to the bang-bang torque input control technique. It can be further optimized by using GA, by determining the optimal natural frequencies to cancel the resonance modes in the system and thus reducing the vibrations. For input shaping with genetic algorithm (ISGA) versus bang-bang (BB) and ISGA versus input shaping (IS), the percentages of vibration improvement in term of area representation is about 2720.03% and 28.57% respectively. In this work, GA optimization method not only reduces the vibrations, but also reduces time delay. GA can also be used offline or online to tune the system to achieve better performance due to modeling error. However, GA with input shaping technique increases the time and complexity of Matlab simulation.
format	Thesis
qualification_level	Master's degree
author	Rudrusamy, Bhuvendra
author_facet	Rudrusamy, Bhuvendra
author_sort	Rudrusamy, Bhuvendra
title	Optimal input shaping for vibration control of a flexible manipulator using genetic algorithm
title_short	Optimal input shaping for vibration control of a flexible manipulator using genetic algorithm
title_full	Optimal input shaping for vibration control of a flexible manipulator using genetic algorithm
title_fullStr	Optimal input shaping for vibration control of a flexible manipulator using genetic algorithm
title_full_unstemmed	Optimal input shaping for vibration control of a flexible manipulator using genetic algorithm
title_sort	optimal input shaping for vibration control of a flexible manipulator using genetic algorithm
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2005
url	http://eprints.utm.my/id/eprint/5292/1/BhuvendraRudrusamyMFKE2005.pdf
_version_	1747814572695224320

Optimal input shaping for vibration control of a flexible manipulator using genetic algorithm

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