Design and Modeling of Omni-directional Bending Pneumatic Flexible Arm

2018 ◽  
Author(s):  
Zhou Xue ◽  
Qiuxuan Wu ◽  
Farong Gao
Keyword(s):  
Flexible Arm

Accurate Trajectory Tracking of Flexible Arm End-Point

2000 ◽  
Vol 33 (27) ◽  
pp. 321-326 ◽  
Author(s):  
M. Benosman ◽  
G. Le Vey
Keyword(s):  
Trajectory Tracking ◽  
End Point ◽  
Flexible Arm

Modelling and bending control of flexible arm based on bionic octopus

2017 ◽  
Author(s):  
Dongfei Xu ◽  
Qiuxuan Wu ◽  
Wenting Yuan ◽  
BoTao Zhang ◽  
Yanbin Luo ◽  
...  
Keyword(s):  
Flexible Arm

Vibration attenuation of a two-link flexible arm carried by a translational stage

2018 ◽  
Vol 24 (23) ◽  
pp. 5650-5664 ◽  
Author(s):  
Shang–Teh Wu ◽  
Shan-Qun Tang ◽  
Kuan–Po Huang
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Flexible Manipulator ◽  
Closed Loop System ◽  
Flexible Arm ◽  
Vibration Attenuation ◽  
Shaft Encoder ◽  
High Frequency Vibrations ◽  
Spatial Derivatives ◽  
Derivatives Of

This paper investigates the vibration control of a two-link flexible manipulator carried by a translational stage. The first and the second links are each driven by a stage motor and a joint motor. By treating the joint motor as a virtual spring, the two-link manipulator can be regarded as an integral flexible arm driven by the stage motor. A noncollocated controller is devised based on feedback from the deflection of the virtual spring, which can be measured by a shaft encoder. Stability of the closed-loop system is analyzed by examining the spatial derivatives of the modal functions. By including a bandpass filter in the feedback loop, residual vibrations can be attenuated without exciting high-frequency vibrations. The control method is simple to implement; its effectiveness is confirmed by simulation and experimental results.

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