Energy Minimization Approach for a Two-link Flexible Manipulator

Abstract

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.

A New Trajectory-Planning Beetle Swarm Optimization Algorithm for Trajectory Planning of Robot Manipulators

“…Chen and Desrochers [35] addressed the problem of the structure of minimum-time control of robotic manipulators along a specified geometric path. Faris et al [36] proposed an energy minimization approach for a two-link flexible manipulator. Piazzi and Visioli [37] proposed a new approach based on interval analysis to find the global minimum-jerk trajectory of a robot manipulator within a joint space scheme using cubic splines.…”

Matrix formulations for solving the configuration-dependent eigenvalue problem of a two-link flexible manipulator

“…So far, the vibrations of links in most of the flexible robots have been modelled by the assumed mode solutions of each flexible link, i.e. component mode of each link, and many control strategies have been consequently proposed to suppress the vibration of the flexible manipulator in literature [1,2,3].…”

Multi-DOF Robotic Manipulator Trajectory Controlling based on Minimum Energy Optimization

“…There are many ways to reduce energy consumption. D Meike [9] obtained energy-optimal trajectories by means of time scaling, and WF Faris [10] used a genetic algorithm to optimize unknown parameters of the trajectory for minimizing energy consumption. However, there is still no method to solve this problem from the perspective of optimizing a high-order torque equation.…”