Abstract
The applications of flexible manipulators are increasing and due to the high demand on fuel consumption there is a need to optimize the energy consumption for stable and durable operation of the flexible manipulators. In the present work the Genetic Algorithm (GA) is employed to optimize the total torque and the torque of the first link of a two-link flexible manipulator with a fourth order polynomial trajectory. The mathematical model of the manipulator is obtained using the extended Hamilton's Principle where the flexible links are treated as Euler- Bernoulli's beam theory. A fifth order polynomial trajectory undergoes a rest-to rest maneuvering is proposed as a bench mark for validation.
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