Parameter Identification and Vibration Control in Modular Manipulators

摘要

The joint parameters of modular manipulators are prerequisite data for effective dynamic control. A method for identifying these parameters using fuzzy logic was devised to study modular redundant robots. Experimental modal analysis and finite element modeling were exploited to model the dynamics. The joint parameters of a nine degrees-of-freedom (9-DOF) modular robot have been identified. In addition, active vibration control based on a neural network and a genetic algorithm were investigated. Ideal control simulation results for a reduced dynamic model of the 9-DOF modular robot were then derived.