Research on vibration suppression of rigid flexible coupling manipulators based on genetic algorithm optimization

Abstract

Aiming at the problem that the rigid flexible coupling manipulator generates elastic vibration during movement, which reduces the positioning accuracy and work efficiency, we propose a method of end vibration suppression based on cosine function superposition and multi population genetic algorithm. First, we get the relationship between the elastic vibration of the flexible arm and the joint trajectory motion according to the dynamic model of the system. Then, the cosine function superposition is used as the basis function to construct motion parameters of joints and the minimum residual vibration amplitude at the end of the flexible arm is used as the objective function. The undetermined coefficients in the basis function are optimized by multi population genetic algorithm to obtain the optimal trajectory. Finally, the simulation and experiment results show that the residual vibration amplitude is reduced by 60.6%. The proposed method can suppress the residual vibration at the end of the flexible arm and improve the work efficiency.