A Unified Dynamic Model Formulation for Robotic Manipulator Systems

2003 ◽  
Vol 20 (10) ◽  
pp. 601-620
Author(s):  
Anjan Kumar Swain ◽  
Alan S. Morris
Keyword(s):  
Dynamic Model ◽  
Robotic Manipulator ◽  
Model Formulation

Dynamic Model and Response of Robot Manipulators With Joint Irregularities

1993 ◽  
Vol 115 (1) ◽  
pp. 70-77 ◽  
Author(s):  
R. J. Chang ◽  
T. C. Jiang
Keyword(s):  
Mathematical Model ◽  
Dynamic Model ◽  
High Speed ◽  
Robotic Manipulator ◽  
Irregular Surface ◽  
Positioning Accuracy ◽  
Linearization Methods ◽  
Accuracy And Precision ◽  
Covariance Propagation ◽  
The Mathematical Model

The dynamic equation of a robotic manipulator with joint irregularities is formulated and employed for the prediction of the positioning accuracy and precision of a robotic manipulator in high-speed operation. The mathematical model is derived by incorporating a dynamic model of irregular joints in an ideal robotic equation and employing the Lagrangian formulation. The joint irregularity is modelled as an elastic sliding pair which consists of a journal with an irregular surface sliding on the surface of an elastic bearing. By employing Gaussian linearization methods, the operational accuracy and precision of the robotic manipulator are obtained from mean and covariance propagation equations of the robotic system. The operation of a single-arm robotic manipulator with joint irregularities is investigated for demonstrating the applications of the present techniques.

Robotic Manipulator Collisions: Modeling and Simulation

1992 ◽  
Vol 114 (4) ◽  
pp. 650-659 ◽  
Author(s):  
J. K. Mills ◽  
C. V. Nguyen
Keyword(s):  
Singular Perturbation ◽  
Work Environment ◽  
Dynamic Model ◽  
Point Contact ◽  
Robotic Manipulator ◽  
Degree Of Freedom ◽  
Theory Approach ◽  
Dynamics Model ◽  
Simulation Results ◽  
The Impact

In this paper, a new formulation of the dynamics of a robotic manipulator work environment is presented. The work environment is modeled in a way that permits the robot transition to and from contact with the work environment to be effectively simulated. This method circumvents the discontinuities inherent in previously proposed models of work environment dynamic models that have, until now, prevented researchers from considering that phase of manipulation. Combined with an existing model of the manipulator dynamics, the overall model of the manipulator-work environment system is such that the system states evolve continuously in time, as is the case in reality. Specifically, a continuous dynamics model is presented which models dynamic behavior of an n degree of freedom rigid link robotic manipulator during the transition to and from frictionless point contact with a work environment. The dynamic model of the work environment is sufficiently general to encompass, as limiting cases, both constrained motion and compliant motion contacts. The general properties of the work environment dynamics model are readily altered with only two parameters. A singular perturbation analysis provides an analytical approach to verification of the properties of the model of the work environment known to be true from an intuitive perspective. Results concerning the behavior of the impact force during a collision between the manipulator and work environment are also obtained using a singular perturbation theory approach. Detailed dynamic simulation results are given to illustrate the behavior of the proposed model. Simulation results of a two-degree-of-freedom manipulator with proportional and derivative control applied during the transition from noncontact to contact motion are given. Comparison of simulation results to experimentally obtained results reported in the robotics literature reveal a remarkable similarity in the time responses, given the simplicity of the work environment dynamic model.

scholarly journals Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Zhu Dachang ◽  
Du Baolin ◽  
Zhu Puchen ◽  
Wenqiang Wu
Keyword(s):  
Sliding Mode Control ◽  
Dynamic Model ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Parameters Identification ◽  
Complex Environment ◽  
Adaptive Backstepping ◽  
Backstepping Sliding Mode Control

To achieve precise trajectory tracking of robotic manipulators in complex environment, the precise dynamic model, parameters identification, nonlinear characteristics, and disturbances are the factors that should be solved. Although parameters identification and adaptive estimate method were proposed for robotic control in many literature studies, the essential factors, such as coupling and friction, are rarely mentioned as it is difficult to build the precise dynamic model of the robotic manipulator. An adaptive backstepping sliding mode control is proposed to solve the precise trajectory tracking under external disturbances with complex environment, and the dynamic response characteristics of a two-link robotic manipulator are described in this paper. First, the Lagrange kinetic method is used to derive the precise dynamic model which includes the nonlinear factor with friction and coupling. Moreover, the dynamic model of two-link robotic manipulator is built. Second, the estimate function for the nonlinear part is selected, and backstepping algorithm is used for analyzing the stabilities of the sliding mode controller by using Lyapunov theory. Furthermore, the convergence of the proposed controller is verified subject to the external disturbance. At last, numerical simulation results are reported to demonstrate the effectiveness of the proposed method.

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