Dynamic modeling and mode analysis of flexible-link, flexible-joint robots

1998 ◽  
Vol 33 (7) ◽  
pp. 1031-1044 ◽  
Author(s):  
Degao Li ◽  
Jean W. Zu ◽  
Andrew A. Goldenberg
Keyword(s):  
Dynamic Modeling ◽  
Mode Analysis ◽  
Flexible Link ◽  
Flexible Joint ◽  
Flexible Joint Robots

Incorporation of Joint Flexibility With Link Flexibility: Dynamic Modeling and Analysis

1995 ◽  
Author(s):  
Degao Li ◽  
Jean W. Zu ◽  
Andrew A. Goldenberg
Keyword(s):  
Dynamic Modeling ◽  
Mode Analysis ◽  
Mode Shapes ◽  
Flexible Robot ◽  
Flexible Robots ◽  
Flexible Joint ◽  
Joint Flexibility ◽  
Modeling And Analysis ◽  
Assumed Mode Method ◽  
Link Flexibility

Abstract Flexible robots with both link flexibility and joint flexibility have received increasing attention recently. In modeling the flexible robots with the assumed mode method, the model accuracy is highly dependent on the mode shapes of the link deflection. For flexible-link, flexible-joint robots, conventionally used clamped-free or pinned-free modes may cause large errors. To address this problem, this paper presents a systematic approach to dynamic modeling and mode analysis of a single-link flexible robot, which has a flexible joint and a hub at the base end and a payload at the free end. Accurate modes of the system are obtained. The following important conclusions are obtained: (1) Even a small joint flexibility can significantly affect the system frequencies; (2) The fundamental frequency is sensitive to the change in the payload and is not sensitive to the change in the hub inertia.

scholarly journals Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation

2010 ◽  
Vol 2010 ◽  
pp. 1-14 ◽  
Author(s):  
Mohammad Ali Badamchizadeh ◽  
Iraj Hassanzadeh ◽  
Mehdi Abedinpour Fallah
Keyword(s):  
Initial Conditions ◽  
Covariance Matrices ◽  
Flexible Joints ◽  
Velocity Measurements ◽  
Lagrange Equations ◽  
Robust Nonlinear Control ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Simulation Results

Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both observers are designed for the same model and run with the same covariance matrices under the same initial conditions. A five-bar linkage robot with revolute flexible joints is considered as a case study. Simulation results verify the effectiveness of the proposed filters.

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