Optimally distributed actuator placement and control for a slewing single-link flexible manipulator

2003 ◽  
Vol 12 (2) ◽  
pp. 287-296 ◽  
Author(s):  
N D Maxwell ◽  
S F Asokanthan
Keyword(s):  
Flexible Manipulator ◽  
Single Link ◽  
And Control ◽  
Actuator Placement ◽  
Distributed Actuator

Influence of backlash in gear reducer on dynamic of single-link manipulator arm

Robotica ◽  
2014 ◽  
Vol 33 (08) ◽  
pp. 1671-1685 ◽  
Author(s):  
Jian-Wei Lu ◽  
Xiao-Ming Sun ◽  
Alexander F. Vakakis ◽  
Lawrence A. Bergman
Keyword(s):  
Dynamic Response ◽  
Dynamic Modeling ◽  
Excitation Frequency ◽  
Planetary Gear ◽  
Flexible Manipulator ◽  
Lumped Mass ◽  
Modeling And Control ◽  
Single Link ◽  
Manipulator Arm ◽  
And Control

SUMMARYThe dynamic modeling of a flexible single-link manipulator arm with consideration of backlash in the planetary gear reducer at the joint is presented, and the influence of backlash on the dynamic response of the system is evaluated. A 2K-H planetary gear reducer with backlash was employed as an example to discuss the dynamic modeling of the sub-model of the planetary gear reducer, and the sub-model of the planetary gear reducer was established based on the lumped mass method. The flexible manipulator was regarded as an Euler--Bernoulli beam, and the dynamic model of the flexible manipulator arm with backlash in the planetary gear reducer was determined from Lagrange's equations. Based on the this model, the influence of the backlash in the planetary gear reducer and excitation frequency on the dynamic response of the system were evaluated through simulation, and the results showed that the dynamic response of the system is sensitive to the backlash and the excitation frequency simultaneously, which provides a theoretical foundation for improvement of dynamic modeling and control of the flexible manipulator arm.

Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator

1989 ◽  
Vol 111 (4) ◽  
pp. 667-672 ◽  
Author(s):  
R. P. Petroka ◽  
Liang-Wey Chang
Keyword(s):  
Dynamic Model ◽  
Robot Manipulator ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Rigid Link ◽  
Future Design ◽  
Single Link ◽  
Manipulator Design ◽  
And Control ◽  
Improved Accuracy

Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model for use in future design and control applications of flexible manipulators.

Finite Element-Based Control of a Single-Link Flexible Hydraulic Manipulator

2017 ◽  
Author(s):  
Petri Mäkinen ◽  
Jouni Mattila
Keyword(s):  
Finite Element ◽  
Controller Design ◽  
Hydraulic Cylinder ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Hydraulic Actuator ◽  
Single Link ◽  
Dynamics And Control ◽  
The Stability ◽  
And Control

In this study, a stability-guaranteed, nonlinear, finite element-based control is presented for a single-link flexible manipulator with hydraulic actuation, subject to experimental validation. The strong, inherent nonlinearities of the hydraulic cylinder and fluid dynamics, coupled with flexible link dynamics, cause remarkable challenges in controlling the system effectively. In an attempt to cope with these challenges, a controller based on the Virtual Decomposition Control (VDC) approach is introduced. The VDC approach takes advantage of subsystem-dynamics-based control, enabling the handling of the dynamics and control of the hydraulic actuator and the flexible link separately, thus keeping the controller design relatively simple. The rigorous stability theory of the VDC approach guarantees the stability of the entire system. The experiments demonstrate the VDC controller’s performance in end-point control with built-in vibration dampening.

Modeling and Control of Linear Two-time Scale Systems: Applied to Single-Link Flexible Manipulator

2006 ◽  
Vol 45 (3) ◽  
pp. 235-265 ◽  
Author(s):  
H. R. Karimi ◽  
M. J. Yazdanpanah ◽  
R. V. Patel ◽  
K. Khorasani
Keyword(s):  
Time Scale ◽  
Flexible Manipulator ◽  
Modeling And Control ◽  
Single Link ◽  
And Control

Vibration Control of a Flexible Link Manipulator Using an Array of Fiber-Optic Curvature Sensors and Piezoelectric Actuators

2007 ◽  
Author(s):  
Kerem Gurses ◽  
Bradley J. Buckman ◽  
Edward J. Park
Keyword(s):  
Motion Control ◽  
Sensor Array ◽  
Fiber Optic ◽  
Element Model ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Velocity Feedback ◽  
Lyapunov Approach ◽  
Single Link ◽  
Actuator Control

This paper presents a novel feedback sensing approach for actively suppressing vibrations of a single-link flexible manipulator. Slewing of the flexible link by a rotating hub induces vibrations in the link that persist long after the hub stops rotating. These vibrations are suppressed through a combined scheme of PD-based hub motion control and proposed piezoelectric (PZT) actuator control, which is a composite linear and velocity feedback controller. Lyapunov approach was used to synthesize the controller based on a finite element model of the system. Its realization was possible due to the availability of both linear and angular velocity feedback provided by a unique, commercially-available fiber optic curvature sensor array, called ShapeTape™. It is comprised of an array of fiber optic curvature sensors, laminated on a long, thin ribbon tape, geometrically arranged in such a way that, when it is embedded into the flexible link, the bend and twist of the link’s centerline can be measured. Experimental results show the effectiveness of the proposed approach.

scholarly journals Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

2021 ◽  
Vol 162 ◽  
pp. 104347
Author(s):  
Lewei Tang ◽  
Marc Gouttefarde ◽  
Haining Sun ◽  
Lairong Yin ◽  
Changjiang Zhou
Keyword(s):  
Vibration Suppression ◽  
Dynamic Modelling ◽  
Flexible Manipulator ◽  
Single Link
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