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首页> 外文期刊>Journal of Computers >Modeling and Control of a Two-link Flexible Manipulator using Fuzzy Logic and Genetic Optimization Techniques
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Modeling and Control of a Two-link Flexible Manipulator using Fuzzy Logic and Genetic Optimization Techniques

机译：一种使用模糊逻辑和遗传优化技术的双连杆柔性机械手的建模与控制

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—Flexible manipulator systems exhibit many advantages over their traditional (rigid) counterparts. However, they have not been favored in production industries due to its obvious disadvantages in controlling the manipulator. This paper presents theoretical investigation into the dynamic modeling and characterization of a constrained two-link flexible manipulator, by using finite element method. The final derived model of the system is simulated to investigate the behavior of the system. A Genetic Algorithm (GA) based fuzzy logic control strategy is also developed to reduce the end-point vibration of a flexible manipulator without sacrificing its speed of response. An uncoupled fuzzy logic controller approach is employed with individual controllers at the shoulder and the elbow link utilizing hub-angle error and hub-velocity feedback. GA has been used to extract and optimize the rule base of the fuzzy logic controller. The fitness function of GA optimization process is formed by taking weighted sum of multiple objectives to trade off between system overshoot and rise time. Moreover, scaling factors of the fuzzy controller are tuned with GA to improve the performance of the controller. A significant amount of vibration reduction has been achieved with satisfactory level of overshoot, rise time and settling time and steady state error.
机译：- 以传统（刚性）对应物相比，性操纵器系统具有许多优点。然而，由于其控制操纵器的明显缺点，它们在生产行业中尚未受到青睐。本文通过使用有限元方法对受约束的双连杆柔性机械手的动态建模和表征进行了理论研究。模拟系统的最终派生模型以研究系统的行为。还开发了一种基于遗传算法（GA）基于模糊逻辑控制策略，以减少柔性机械手的终点振动，而不会牺牲其响应速度。在肩部的单个控制器和利用集线器误差和集线器速度反馈的肘部链路采用不耦合的模糊逻辑控制器方法。 GA已被用于提取和优化模糊逻辑控制器的规则库。通过在系统过冲和上升时间之间取得加权之和衡量的多个目标来形成GA优化过程的健身功能。此外，模糊控制器的缩放因子通过GA调节，以提高控制器的性能。通过令人满意的过冲，上升时间和稳定时间和稳态误差，已经实现了大量减振。

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