Optimal input shaping for vibration control of a flexible manipulator using GA
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...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2005
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| Subjects: | |
| Online Access: | http://eprints.utm.my/1863/ http://eprints.utm.my/1863/1/Zahar05_Optimal_Input_Shaping.pdf |
| _version_ | 1848890228645822464 |
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| author | Rudrusamy, Bhuvendra Mohamed, Zaharuddin |
| author_facet | Rudrusamy, Bhuvendra Mohamed, Zaharuddin |
| author_sort | Rudrusamy, Bhuvendra |
| building | UTeM Institutional Repository |
| collection | Online Access |
| description | 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 are determined using GA. The simulation work is designed in Matlab based environment and the responses are presented in the time and frequency domains. The performance of optimal input shaper is compared to the bang-bang torque in terms of maneuver speed, transient and steady state responses, computational complexity and level of reduction at resonances mode. |
| first_indexed | 2025-11-15T20:38:44Z |
| format | Conference or Workshop Item |
| id | utm-1863 |
| institution | Universiti Teknologi Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:38:44Z |
| publishDate | 2005 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | utm-18632017-06-12T02:50:48Z http://eprints.utm.my/1863/ Optimal input shaping for vibration control of a flexible manipulator using GA Rudrusamy, Bhuvendra Mohamed, Zaharuddin TK Electrical engineering. Electronics Nuclear engineering 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 are determined using GA. The simulation work is designed in Matlab based environment and the responses are presented in the time and frequency domains. The performance of optimal input shaper is compared to the bang-bang torque in terms of maneuver speed, transient and steady state responses, computational complexity and level of reduction at resonances mode. 2005-12-04 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/1863/1/Zahar05_Optimal_Input_Shaping.pdf Rudrusamy, Bhuvendra and Mohamed, Zaharuddin (2005) Optimal input shaping for vibration control of a flexible manipulator using GA. In: Proceeding of the 9th International Conference on Mechatronics Technology, 5-8 December 2005, Kuala Lumpur. https://books.google.com.my/books/about/ICMT_2005.html?id=qj0UDAEACAAJ&redir_esc=y |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Rudrusamy, Bhuvendra Mohamed, Zaharuddin Optimal input shaping for vibration control of a flexible manipulator using GA |
| title | Optimal input shaping for vibration control of a flexible manipulator using GA |
| title_full | Optimal input shaping for vibration control of a flexible manipulator using GA |
| title_fullStr | Optimal input shaping for vibration control of a flexible manipulator using GA |
| title_full_unstemmed | Optimal input shaping for vibration control of a flexible manipulator using GA |
| title_short | Optimal input shaping for vibration control of a flexible manipulator using GA |
| title_sort | optimal input shaping for vibration control of a flexible manipulator using ga |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/1863/ http://eprints.utm.my/1863/ http://eprints.utm.my/1863/1/Zahar05_Optimal_Input_Shaping.pdf |