Maximum-dynamic-payload trajectory for flexible robot manipulators with kinematic redundancy

2001 ◽  
Vol 36 (6) ◽  
pp. 785-800 ◽  
Author(s):  
Shigang Yue ◽  
S.K. Tso ◽  
W.L. Xu
Keyword(s):  
Robot Manipulators ◽  
Kinematic Redundancy ◽  
Flexible Robot

Dynamics and Motion Control of Flexible Manipulators With Multi-Degree of Kinematic Redundancy

2005 ◽  
Author(s):  
Yue-Qing Yu ◽  
Ji-Yun Yang
Keyword(s):  
Motion Control ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Kinematic Redundancy ◽  
Flexible Robot ◽  
Flexible Robots ◽  
Dynamic Performances ◽  
Self Motion

The dynamics and motion control of flexible robot manipulators is an advanced topic in the study of robotics. The precise tracking of the end-effector trajectory of flexible robots can be improved by the self-motion of redundant manipulators. The flexible manipulator with single-degree of kinematic redundancy has been considered only at present. This study addresses on the dynamics and motion control of flexible robots with multi-degree of kinematic redundancy. Compared with the robot with one-degree of redundancy, the optimal motion programming of a flexible robot manipulator with two-degree of redundancy has been obtained successfully based on pseudo-inverse solution. The numerical results of planar three-link and four-link flexible manipulators show the advantage of multi-degree of redundancy in improving the kinematic and dynamic performances of flexible robot manipulators.

On the Properties of a Dynamic Model of Flexible Robot Manipulators

1998 ◽  
Vol 120 (1) ◽  
pp. 8-14 ◽  
Author(s):  
Marco A. Arteaga
Keyword(s):  
Dynamic Model ◽  
Structural Properties ◽  
Robot Manipulators ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Control Design ◽  
Flexible Manipulator ◽  
Robot Dynamics ◽  
Flexible Link ◽  
Flexible Robot

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

Dynamic Analysis of Flexible Manipulator Arms With Distributed Viscoelastic Damping

1997 ◽  
Vol 119 (4) ◽  
pp. 831-833 ◽  
Author(s):  
Fan Zijie ◽  
Lu Bingheng ◽  
C. H. Ku
Keyword(s):  
Finite Element ◽  
Dynamic Response ◽  
Dynamic Analysis ◽  
Virtual Work ◽  
Robot Manipulators ◽  
Flexible Manipulator ◽  
Viscoelastic Damping ◽  
Principle Of Virtual Work ◽  
Flexible Robot ◽  
Damping Treatments

The main objective of this work is to predict the effect of distributed viscoelastic damping on the dynamic response of multilink flexible robot manipulators. A general approach, based on the principle of virtual work, is presented for the modeling of flexible robot arms with distributed viscoelastic damping. The finite element equations are developed, and a recurrence formulation for numerical integration of these equations is obtained. It is demonstrated, by a numerical example, that the viscoelastic damping treatments have a significant effect on the dynamic response of flexible robot manipulators.

scholarly journals Design Process of High Dynamics Multi-Link Flexible Robot Manipulators

2017 ◽  
Author(s):  
Thomas Solatges ◽  
Mathieu Rognant ◽  
Sébastien Rubrecht ◽  
Eric Courteille ◽  
Philippe Bidaud
Keyword(s):  
Design Process ◽  
Performance Indicators ◽  
Robot Manipulators ◽  
Experimental Results ◽  
Control Architecture ◽  
Flexible Robot ◽  
Flexible Robots ◽  
Modeling Tool ◽  
And Performance ◽  
High Dynamics

This paper presents a design process based on an advanced flexible robots modeling tool associated with realistic actuators models and pre-defined control architecture. This process implements dedicated feasibility and performance indicators, which are used to evaluate a design and its sensitivity on the considered parameters. The proposed approach is illustrated with theoretical and experimental results obtained with the YAKA robot.

Robust Control of Flexible Robot Manipulators

2006 ◽  
Author(s):  
Jong-guk Yim ◽  
Je Yeon ◽  
Jaeyoung Lee ◽  
Jong Park ◽  
Sang-hun Lee ◽  
...  
Keyword(s):  
Robust Control ◽  
Robot Manipulators ◽  
Flexible Robot
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