Contribution to the dynamics and control of robots having elastic transmissions

Robotica ◽  
1988 ◽  
Vol 6 (1) ◽  
pp. 63-69 ◽  
Author(s):  
V. Potkonjak
Keyword(s):  
Dynamic Model ◽  
Robot Dynamics ◽  
Elastic Vibrations ◽  
Dynamics And Control ◽  
Simulation Results ◽  
And Control

SUMMARYThis paper discusses one problem of robot dynamics rarely mentioned in papers relevent to this field. It is the problem of torsional effects in torque transmissions (reducers, shafts, transmission chains, etc.). The problem is significant since oscillations can appear to be due to these effects. The complete dynamic model, which includes these effects, is derived and the possible simplifications considered. The position of feedback transducers is discussed since it appears as an important problem when it is intended to minimize the influence of these elastic vibrations. The discussion is based on eigenvalues and simulation results.

Beyond Pull-In Stabilization of Dual Axis Micromirrors Using Fuzzy Controllers

2010 ◽  
Author(s):  
Hamid Moeenfard ◽  
Mohammad Taghi Ahmadian ◽  
Ali Soroush ◽  
Aria Alasty
Keyword(s):  
Dynamic Model ◽  
Rise Time ◽  
Fuzzy Controller ◽  
System Behavior ◽  
Fuzzy Controllers ◽  
Strongly Nonlinear ◽  
Dynamics And Control ◽  
Simulation Results ◽  
And Control ◽  
Short Rise Time

Dual axis micromirrors are actuated using strongly nonlinear electrostatic actuation and their operating range suffers from the pull-in problem. So investigation of their dynamics and control issues has become a challenge for the researchers. The current paper makes use of fuzzy controllers for the purpose of stabilizing the dual axis micromirror at the desired tilt angles beyond pull-in. At first the dynamic model of the micromirror is presented. Then for the purpose of finding the linguistic laws governing the system behavior, several step voltages are introduced to the system. The proposed fuzzy controller consists of singleton fuzzifier, product inference engine and center average defuzzifier. It was observed from the simulation results that the presented controller can effectively and immediately stabilize and control the micromirror tilt angles beyond pull-in, with a short rise time and also a short overshoot.

A multigroup model for cholera dynamics and control

2015 ◽  
Vol 09 (01) ◽  
pp. 1650001 ◽  
Author(s):  
Drew Posny ◽  
Chairat Modnak ◽  
Jin Wang
Keyword(s):  
Reproduction Number ◽  
Vaccination Strategy ◽  
Sharp Threshold ◽  
Indirect Transmission ◽  
Dynamics And Control ◽  
Simulation Results ◽  
Transmission Pathways ◽  
And Control ◽  
Control Study ◽  
The Basic Reproduction Number

We propose a general multigroup model for cholera dynamics that involves both direct and indirect transmission pathways and that incorporates spatial heterogeneity. Under biologically feasible conditions, we show that the basic reproduction number R0 remains a sharp threshold for cholera dynamics in multigroup settings. We verify the analysis by numerical simulation results. We also perform an optimal control study to explore optimal vaccination strategy for cholera outbreaks.

scholarly journals Kinematic Analysis of Three-Wire-Driven Parallel (TWDP) Robot

2011 ◽  
Vol 2-3 ◽  
pp. 302-307 ◽  
Author(s):  
Tao Yu ◽  
Qing Kai Han
Keyword(s):  
Static Analysis ◽  
Parallel Robot ◽  
Analytical Models ◽  
Kinematics Analysis ◽  
Mechanism Model ◽  
Good Movement ◽  
Dynamics And Control ◽  
Movement Stability ◽  
Simulation Results ◽  
And Control

In the paper, a novel new gravity-constrained (GC) three-wire-driven (TWD) parallel robot is proposed. With its mechanism model, three typical kinematics analytical models, including horizontal up-down motion, pitching motion and heeling motion and their corresponding simulations are given in detail. In static analysis, the change of tensions in the wires is calculated based on previous kinematics analysis. The simulation results show the robot has good movement stability. The paper can provide useful materials to study of dynamics and control on wire-driven robot.

Dynamics and control of a 6-DOF space robot with flexible panels

2016 ◽  
Vol 231 (6) ◽  
pp. 1022-1034 ◽  
Author(s):  
Yu Zhang-Wei ◽  
Liu Xiao-Feng ◽  
Li Hai-Quan ◽  
Cai Guo-Ping
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Torque Control ◽  
Space Robot ◽  
Velocity Variation ◽  
Variation Principle ◽  
Dynamics Modeling ◽  
Dynamics And Control ◽  
Flexible Panels ◽  
And Control

With the development of space exploration, researches on space robot will cause more attentions. However, most existing researches about dynamics and control of space robot concern planar problem, and the effect of flexible panel on dynamics of the system is not considered. In this article, dynamics modeling and active control of a 6-DOF space robot with flexible panels are investigated. Dynamic model of the system is established based on the Jourdain's velocity variation principle and the single direction recursive construction method. The computed torque control method is used to design point-to-point active controller of the space robot. The validity of the dynamic model is verified through the comparison with ADAMS software; the effects of panel flexibility on the system performance and the active controller design are studied in detail. Simulation results indicate that the proposed model is effective to describe the dynamics of space robot; panel flexibility has large influence on the dynamic behavior of space robot; the designed controller can effectively make the robot reach a specified position and the elastic vibration of the panels may be suppressed simultaneously.

Learning control of robot manipulators by interactive simulation

Robotica ◽  
2005 ◽  
Vol 23 (4) ◽  
pp. 515-520 ◽  
Author(s):  
Rafael Kelly ◽  
Sebastian Dormido ◽  
Carmen Monroy ◽  
Elizabeth Díaz
Keyword(s):  
Control Systems ◽  
Position Control ◽  
Graphical Representation ◽  
Robot Manipulators ◽  
Robot Dynamics ◽  
Interactive Simulation ◽  
Robot Arm ◽  
Control Structures ◽  
Dynamics And Control ◽  
And Control

Control systems of robot manipulators offer many challenges in education where the students must learn robot dynamics and control structures, and understand relations between the control parameters and the systems performance. Interactive simulation is aimed at improving the understanding of and intuition for the abstract parts of the control of robot courses. This paper presents an application of interactive simulation to teach control systems of robots. The application considers a nonlinear robot arm and two control modules: position control and motion control. Students can directly manipulate graphical representation of the systems such as a choice among seven control structures, controller gains, and desired trajectories, and obtain instant feedback on the effects. These features make the interactive learning tool stimulating and of high pedagogical value.

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