Adaptive phase control of robot with flexible joint optimized by genetic algorithm

Subject Areas : Electronics Engineering

Mirsjad  Mousavi ¹ (Shahroud University of Technology, M.Sc. Student of Electrical Control Engineering, Shahroud,)
Ebrahim  Abbaszadeh ² (Shahroud University of Technology, M.Sc. Student of Electrical Control Engineering, Shahroud)

Received: 2021-01-02 Accepted : 2021-01-02 Published : 2020-01-21

Keywords:

Abstract :

The robot studied in this paper is a mechanical system consisting of an arm with a flexible joint with two degrees of freedom. This paper proposes an adaptive phase controller for this flexible joint. The proposed controller is evaluated for stability and perturbation removal. In order to achieve the maximum speed in following the control commands, the effective parameters in the controller are optimized by the genetic optimization algorithm

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