GA Based Concurrent Optimization and Design of Flexible Manipulator System

摘要

Concurrent design method is adopted in this paper to design and integrally optimize a single-link robotic flexible manipulator system,whose mathematical model includes construction parameters,sensor parameters and controller parameters. An improved genetic algorithm(GA) is used for parameter global optimization. Simulation results demonstrate that the optimized manipulator beam is non-uniform cross-section beam. And with simple PD controller,the system shows improved performances of tip vibration suppression.