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- W2388925127 abstract "Tip position control of flexible multi link manipulators is discussed. Because it is difficult to guarantee the stability of closed loop system based on the nonlinear inversion,A hybrid controller combining nonlinear prediction and PD feedback of rigid motion is developed. Due to the quantity of the parameters and the complexity of nonlinear charater in the system, the stability of closed loop system is difficult to guarantee by classical designing methods. A designing method based on genetic algorithm is proposed.The genetic algorithm is used to select the parameters in the controller so as to collocate the poles in the closed loop system. Digital simulation result of flexible two link manipulators is given to show that in the closed loop system designed by the genetic algorithm accurate tip point trajectory tracking and vibration damping can be accomplished." @default.
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- W2388925127 date "2001-01-01" @default.
- W2388925127 modified "2023-09-25" @default.
- W2388925127 title "Tip-position control of flexible multi-link manipulators with genetic algorithm" @default.
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