An Online Trajectory Planning Method of a Flexible-Link Manipulator Aiming at Vibration Suppression
Vibration has a great influence on the working accuracy of flexible-link manipulators. In this paper, an online trajectory planning method for the flexible-link manipulator is proposed to suppress the vibration. Firstly, the vibration dynamic model of planar flexible-link manipulator is established,...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9141285/ |
| _version_ | 1831634496027361280 |
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| author | Yuanyuan Li Shuzhi Sam Ge Qingping Wei Tao Gan Xiaolin Tao |
| author_facet | Yuanyuan Li Shuzhi Sam Ge Qingping Wei Tao Gan Xiaolin Tao |
| author_sort | Yuanyuan Li |
| collection | DOAJ |
| description | Vibration has a great influence on the working accuracy of flexible-link manipulators. In this paper, an online trajectory planning method for the flexible-link manipulator is proposed to suppress the vibration. Firstly, the vibration dynamic model of planar flexible-link manipulator is established, and the actual vibration trajectory of manipulator is solved by reasonable simplification. Then, taking residual energy of vibration as an objective function, the optimizer based on Particle Swarm Optimization(PSO) intelligent search algorithm is employed to search the motion trajectory of the manipulator with the best vibration suppression effect. Finally, the optimizer based on back propagation neural networks(BPNN) is employed instead of PSO optimizer to generate manipulator motion trajectory rapidly, and the optimal trajectory database searched by PSO optimizer is used to train BPNN. Simulation results show that this method can generate the trajectory rapidly and suppress the vibration effectively, and can be applied to the online trajectory planning of flexible manipulator. |
| first_indexed | 2024-12-19T05:54:51Z |
| format | Article |
| id | doaj.art-1de1e02c55b94e02a1e07f1d17401ed1 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T05:54:51Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-1de1e02c55b94e02a1e07f1d17401ed12022-12-21T20:33:28ZengIEEEIEEE Access2169-35362020-01-01813061613063210.1109/ACCESS.2020.30095269141285An Online Trajectory Planning Method of a Flexible-Link Manipulator Aiming at Vibration SuppressionYuanyuan Li0https://orcid.org/0000-0002-4470-3889Shuzhi Sam Ge1Qingping Wei2Tao Gan3Xiaolin Tao4Center for Robotics, School of Computer Science and Engineering, University of Electronic Science and Technology of China, Chengdu, ChinaCenter for Robotics, School of Computer Science and Engineering, University of Electronic Science and Technology of China, Chengdu, ChinaDEC Academy of Science and Technology Company Ltd., Chengdu, ChinaCenter for Robotics, School of Computer Science and Engineering, University of Electronic Science and Technology of China, Chengdu, ChinaCenter for Robotics, School of Computer Science and Engineering, University of Electronic Science and Technology of China, Chengdu, ChinaVibration has a great influence on the working accuracy of flexible-link manipulators. In this paper, an online trajectory planning method for the flexible-link manipulator is proposed to suppress the vibration. Firstly, the vibration dynamic model of planar flexible-link manipulator is established, and the actual vibration trajectory of manipulator is solved by reasonable simplification. Then, taking residual energy of vibration as an objective function, the optimizer based on Particle Swarm Optimization(PSO) intelligent search algorithm is employed to search the motion trajectory of the manipulator with the best vibration suppression effect. Finally, the optimizer based on back propagation neural networks(BPNN) is employed instead of PSO optimizer to generate manipulator motion trajectory rapidly, and the optimal trajectory database searched by PSO optimizer is used to train BPNN. Simulation results show that this method can generate the trajectory rapidly and suppress the vibration effectively, and can be applied to the online trajectory planning of flexible manipulator.https://ieeexplore.ieee.org/document/9141285/Vibration suppressiononline trajectory planningflexible-link manipulatorparticle swarm optimizationneural networks |
| spellingShingle | Yuanyuan Li Shuzhi Sam Ge Qingping Wei Tao Gan Xiaolin Tao An Online Trajectory Planning Method of a Flexible-Link Manipulator Aiming at Vibration Suppression IEEE Access Vibration suppression online trajectory planning flexible-link manipulator particle swarm optimization neural networks |
| title | An Online Trajectory Planning Method of a Flexible-Link Manipulator Aiming at Vibration Suppression |
| title_full | An Online Trajectory Planning Method of a Flexible-Link Manipulator Aiming at Vibration Suppression |
| title_fullStr | An Online Trajectory Planning Method of a Flexible-Link Manipulator Aiming at Vibration Suppression |
| title_full_unstemmed | An Online Trajectory Planning Method of a Flexible-Link Manipulator Aiming at Vibration Suppression |
| title_short | An Online Trajectory Planning Method of a Flexible-Link Manipulator Aiming at Vibration Suppression |
| title_sort | online trajectory planning method of a flexible link manipulator aiming at vibration suppression |
| topic | Vibration suppression online trajectory planning flexible-link manipulator particle swarm optimization neural networks |
| url | https://ieeexplore.ieee.org/document/9141285/ |
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