On the modelling and control of a flexible manipulator arm by point actuators

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.

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Analysis of Elastic Motion Stability of Flexible Manipulator Arm Based on Roth Criterion of Control System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.620.330 ◽

2014 ◽

Vol 620 ◽

pp. 330-336

Author(s):

Guang Rui Liu ◽

Lan Fen Niu ◽

Xin Tian

Keyword(s):

Lagrange Equation ◽

The State ◽

Flexible Manipulator ◽

Rotational Inertia ◽

Control Input ◽

Motion Stability ◽

Manipulator Arm ◽

Physics Model ◽

The Stability ◽

And Control

In order to study the elastic motion stability of flexible manipulator arm , to analyze the effect of the end position addition mass and rotary inertia on the elastic motion stability ,and to compute the maximum dynamic allowable payload , the physics model of a flexible manipulator arm is established , the differential equation of elastic motion of the flexible manipulator arm is solved using the method of the separation of time and space and the method of Laplace transformation , the dynamic model of flexible manipulator arm carried addition mass on its end position is established ,simplified and truncated using Lagrange equation . the state space expression and transfer function are established with the state variable and control input and output variable designated , the elastic motion stability rule is built upon and simplified using Roth criterion . The influence of the end position addition mass and articulation rotational inertia of flexible manipulator arm on its elastic motion stability is analyzed using the stability rule and the dynamic maximum allowable payload of flexible manipulator arm on its end position is computed in order to guarantee its elastic motion stability .

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Analysis of Elastic Motion Stability of Flexible Manipulator Arm Based on Lyapunov Stability Theory

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.620.321 ◽

2014 ◽

Vol 620 ◽

pp. 321-329

Author(s):

Guang Rui Liu ◽

Wen Bo Zhou ◽

Rong Fu Liu

Keyword(s):

Lyapunov Stability ◽

Stability Theory ◽

Lagrange Equation ◽

Lyapunov Stability Theory ◽

The State ◽

Flexible Manipulator ◽

Rotational Inertia ◽

Control Input ◽

Motion Stability ◽

Manipulator Arm

In order to study the elastic motion stability of flexible manipulator arm , to compute the maximum dynamic allowable payload , the partial differential equation of elastic motion of the flexible manipulator arm is solved using the method of Laplace transformation , the dynamic model of flexible manipulator arm carried addition mass on its end position is established ,simplified and truncated using Lagrange equation . the state space expression is established with the state variable and control input and output variable designated , the elastic motion stability rule is built upon and simplified using Lyapunov stability theory . The influence of the end position addition mass and articulation rotational inertia of flexible manipulator arm on its elastic motion stability is analyzed using the stability rule , and the dynamic maximum allowable payload of flexible manipulator arm on its end position is computed in order to guarantee its elastic motion stability . this study is important to the design of robot mechanical manipulator and corresponding drive control system .

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MODELLING AND CONTROL OF A TWO-LINK FLEXIBLE MANIPULATOR

Transactions of the Canadian Society for Mechanical Engineering ◽

10.1139/tcsme-1992-0017 ◽

1992 ◽

Vol 16 (3-4) ◽

pp. 311-328 ◽

Cited By ~ 2

Author(s):

A.S. Zaki ◽

W.H. ElMaraghy

Keyword(s):

Flexible Manipulator ◽

And Control

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Robust control of a flexible manipulator arm

Proceedings. 1988 IEEE International Conference on Robotics and Automation ◽

10.1109/robot.1988.12041 ◽

2003 ◽

Cited By ~ 10

Author(s):

V.V. Korolov ◽

Y.H. Chen

Keyword(s):

Robust Control ◽

Flexible Manipulator ◽

Manipulator Arm

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Acceleration feedback control for a flexible manipulator arm

Proceedings. 1988 IEEE International Conference on Robotics and Automation ◽

10.1109/robot.1988.12068 ◽

2003 ◽

Cited By ~ 7

Author(s):

P.T. Kotnik ◽

S. Yurkovich ◽

U. Ozguner

Keyword(s):

Feedback Control ◽

Flexible Manipulator ◽

Acceleration Feedback ◽

Manipulator Arm

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Design and control of a manipulator arm driven by pneumatic muscle actuators

2008 16th Mediterranean Conference on Control and Automation ◽

10.1109/med.2008.4602136 ◽

2008 ◽

Cited By ~ 12

Author(s):

Zeljko Situm ◽

Srecko Herceg

Keyword(s):

Pneumatic Muscle ◽

Manipulator Arm ◽

Muscle Actuators ◽

And Control

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Remotely Operated Underwater Thermal Cutting Processes for the Decommissioning of Large North Sea Platforms

21st International Conference on Offshore Mechanics and Arctic Engineering, Volume 3 ◽

10.1115/omae2002-28607 ◽

2002 ◽

Cited By ~ 1

Author(s):

Ian Frazer ◽

Lindsey Fyffe ◽

Oliver J. Gibson ◽

Bill Lucas

Keyword(s):

Type System ◽

Second Phase ◽

Air Plasma ◽

Hydrogen Flux ◽

Thermal Cutting ◽

Ongoing Work ◽

Manipulator Arm ◽

Cable Systems ◽

Cutting Processes ◽

And Control

A study has demonstrated the automation of underwater thermal cutting processes for remote decommissioning operations. The first phase of cutting trials evaluated five cutting processes underwater (air plasma, oxy-hydrogen, flux-cored arc, oxy-petrol and Kerrie cable systems). In the second phase, three manual cutting systems (oxy-petrol, “Broco” type system and Kerrie cable) were adapted for operation by a manipulator arm of the type commonly used offshore on Remotely Operated Vehicles. This manipulator, which usually requires a human operator, was interfaced to computer simulation and control software. The results of underwater cuts on steel plate using these systems are discussed, with applicability to offshore decommissioning. Ongoing work using other novel thermal cutting processes is also described.

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