Global Optimization Design of Flexible Manipulator System

To consider the effects of the dynamics of flexible manipulators and control strategy synthetically and improve the system integral performance further, the integrated system optimization mathematical model is established which includes construction parameters, sensor parameters, controller parameters and driver parameters based on the concurrent design. An improved genetic algorithms is used for parameters global optimization under the integration optimization object. Design results are that the optimized manipulator beam is non-uniform cross-section beam and the controller is not only easy to implement but also robust to the system parameters uncertainty. The research demonstrates that the global optimization design improves the system integrated performances and has better tip vibration suppression result without increasing the system energy cost based on the concurrent design idea.