Optimal input shaping for vibration control of a flexible manipulator using GA

• Main Authors: Rudrusamy, Bhuvendra, Mohamed, Zaharuddin
• Format: Conference or Workshop Item
• Language: English
• Published: 2005
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/1863/1/Zahar05_Optimal_Input_Shaping.pdf; http://eprints.utm.my/id/eprint/1863/; https://books.google.com.my/books/about/ICMT_2005.html?id=qj0UDAEACAAJ&redir_esc=y

This paper presents optimization of input shaping technique using genetic algorithms (GAs) for a planar single link flexible manipulator system with varying payload. An unshaped bang-bang torque is shaped by convolving a sequence of impulses with an input shaper. The time locations of the impulses a...