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Linear parametric modelling

Linear parametric modelling

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This chapter presents the development of parametric approaches for dynamic modelling of a single-link flexible manipulator system. The least mean squares, recursive least squares and genetic algorithms are used to obtain linear parametric models of the system. The system is in each case modelled from the input torque to hub-angle, hub-velocity and end-point acceleration outputs. The models are validated using several validation tests. Finally, a comparative assessment of the approaches used is presented and discussed in terms of accuracy, efficiency and estimation of vibration modes of the system.

Chapter Contents:

  • 6.1 Introduction
  • 6.2 Least mean squares algorithm
  • 6.3 Recursive least squares algorithm
  • 6.4 Genetic algorithm
  • 6.4.1 GA fundamentals
  • 6.4.2 Major GA elements and their modification
  • 6.4.2.1 Population representation and initialisation
  • 6.4.2.2 The objective function and fitness value
  • 6.4.2.3 Selection
  • 6.4.2.4 Crossover and mutation
  • 6.4.2.5 Reinsertion
  • 6.4.2.6 Probability rate setting
  • 6.4.2.7 Termination of the GA
  • 6.5 Model validation
  • 6.6 Case studies
  • 6.6.1 System model and input signal
  • 6.6.2 Case study 6.1: modelling with LMS algorithm
  • 6.6.3 Case study 6.2: modelling with RLS algorithm
  • 6.6.4 Case study 6.3: modelling with GA
  • 6.7 Summary

Inspec keywords: manipulator dynamics; vibrations; genetic algorithms; least mean squares methods; flexible manipulators

Other keywords: hub-angle; vibration mode accuracy; validation tests; parametric approach development; end-point acceleration outputs; least mean squares; linear parametric modelling; genetic algorithms; single-link flexible manipulator system; vibration mode estimation; recursive least squares; input torque; dynamic modelling; vibration mode efficiency; hub-velocity

Subjects: Vibrations and shock waves (mechanical engineering); Optimisation; Interpolation and function approximation (numerical analysis); Manipulators; Numerical analysis; Optimisation techniques; Robot and manipulator mechanics

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