Approaches based on particle swarm optimization for problems of vibration reduction of suspended mobile robot with a manipulator

Abstract

Mobile robots with suspension systems can absorb vibration induced by rough roads, but due to center-of-gravity (CG) shift, the suspended platform is subject to vibration when the platform moves with acceleration. This paper presents approaches based on the particle swarm optimization (PSO) algorithm to overcome the following vibration problems: (1) when the suspended platform moves with a static manipulator, vibration of the suspended platform occurs due to CG shift, (2) when the suspended platform and the manipulator move simultaneously, the vibration is caused by the dynamic manipulator. For the first problem, a method for the optimization of multi-input shapers using PSO is adopted with chaos to reduce the residual vibration. For the second problem, an approach based on PSO with chaos is developed to suppress the vibration by searching for the time-jerk synthetic optimal trajectories of the manipulator. Finally, the authors perform the resulting shapers and optimal trajectories on the presented models and demonstrate the vibration can be controlled to a desired level effectively in both problems.