Design and implementation of an ERLS-based 3-D dynamic formulation for flexible-link robots

2013 ◽  
Vol 29 (2) ◽  
pp. 273-282 ◽  
Author(s):  
Renato Vidoni ◽  
Alessandro Gasparetto ◽  
Marco Giovagnoni
Keyword(s):  
Flexible Link ◽  
Design And Implementation ◽  
Dynamic Formulation ◽  
Flexible Link Robots

Design and Implementation of a Simulator for 3D Flexible-Link Serial Robots

2012 ◽  
Author(s):  
P. Boscariol ◽  
A. Gasparetto ◽  
M. Giovagnoni ◽  
A. K. Moosavi ◽  
R. Vidoni
Keyword(s):  
Dynamic Modeling ◽  
Dynamic Modelling ◽  
Large Displacements ◽  
Flexible Link ◽  
Recursive Procedure ◽  
Design And Implementation ◽  
Serial Robots ◽  
Floating Frame ◽  
Flexible Link Robots ◽  
Small Deformations

In this paper, an effective method in dynamic modeling of spatial flexible-link robots under large displacements and small deformations is discussed and a generic Matlab™ software simulator based on it is presented and validated. The adopted method is based on an Equivalent Rigid Link System (ERLS) that enables to decouple the kinematic equations of the ERLS from the compatibility equations of the displacements at the joints allowing an easy and recursive procedure to build the robot dynamic matrices. The simulator is suitable for dynamic modelling of generic 3D serial flexible-link robots. The Matlab™ software simulator is validated with respect to the Adams-Flex™ commercial software, which implements Floating Frame of Reference (FFR) formulation, one of the most used methods for dynamic modeling of multibody flexible-link mechanisms with large displacements and small deformations.

scholarly journals Collision Detection for Flexible Link Robots using Accelerometers

2019 ◽  
Vol 52 (16) ◽  
pp. 514-519 ◽  
Author(s):  
Florian Pucher ◽  
Hubert Gattringer ◽  
Andreas Müller
Keyword(s):  
Collision Detection ◽  
Flexible Link ◽  
Flexible Link Robots

A nonlinear model-based control of flexible robots

Robotica ◽  
1993 ◽  
Vol 11 (1) ◽  
pp. 73-82 ◽  
Author(s):  
CM. Pham ◽  
W. Khalil ◽  
C. Chevallereau
Keyword(s):  
Nonlinear Model ◽  
Flexible Link ◽  
Model Based Control ◽  
Elastic Deflection ◽  
Model Based ◽  
Extensive Evaluation ◽  
Experimental Validations ◽  
The Stability ◽  
Rigid Joints ◽  
Flexible Link Robots

SUMMARYThis paper present a nonlinear, model-based control of flexible link robots. The control task is formulated requiring rigid joints variables to track reference time-varying trajectory and elastic deflection to be damped. The stability and robustness properties of the control scheme are analyzed from a passive energy consideration. A direct adaptive version is also proposed. Extensive evaluation of this approach is performed using experimental validations involving a single-flexible-link and a two-flexible-link horizontal robot. Experimental results show significant performances of the controller under relatively severe working conditions: 700% payload to arm ratio and 20% elastic deflection ratio at highest acceleration stages.

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