Modeling and Identification of a Single Link Flexible Arm with a Passive Gravity Compensation Mechanism

2018 ◽  
Author(s):  
Juan Carlos Cambera ◽  
Jose Abel Chocoteco ◽  
Vicente Feliu-Batlle
Keyword(s):  
Gravity Compensation ◽  
Compensation Mechanism ◽  
Flexible Arm ◽  
Single Link

Force control of a very lightweight single-link flexible arm based on coupling torque feedback

Mechatronics ◽  
2009 ◽  
Vol 19 (3) ◽  
pp. 334-347 ◽  
Author(s):  
Ismael Payo ◽  
Vicente Feliu ◽  
Osvaldo Daniel Cortázar
Keyword(s):  
Force Control ◽  
Flexible Arm ◽  
Single Link

Control of Flexible Beam with Unmodelled Dynamics Using Second-Order Pole Placement and LQR Techniques

2013 ◽  
Vol 393 ◽  
pp. 675-682 ◽  
Author(s):  
Z.A. Rahman ◽  
A.A. Mat Isa ◽  
Haydar H. Ali ◽  
M.A. Anuar
Keyword(s):  
Nonholonomic Constraints ◽  
Second Order ◽  
Pole Placement ◽  
Flexible Beam ◽  
Flexible Link ◽  
Intrinsic Nature ◽  
Order Pole ◽  
Flexible Arm ◽  
Single Link ◽  
Mechanical Devices

Control of a flexible beam such as that in flexible-link robot manipulators in many mechanical devices is very challenging, due in part to its intrinsic nature of unmodelled dynamics in a system. Such a system is said to be subjected to nonholonomic constraints, hence its feedback control is difficult to realize. This paper presents the application of control design based on second-order pole placement and LQR approaches to a single-link flexible robotic arm. In this case, a controller considering the flexibility of highly-flexible arm is employed to suppress the tip vibration of the manipulator. The effectiveness of the method is verified through computer simulations and consequently, the adequateness of the control performance and the feasibility of the system with a super-light link are shown.

scholarly journals Novel Gravity Compensation Mechanism by Using Wire-Winding

2016 ◽  
Vol 22 (9) ◽  
pp. 733-737
Author(s):  
DongGyu Lee ◽  
SangHo Lee ◽  
JungWhan Park ◽  
TaeWon Seo
Keyword(s):  
Gravity Compensation ◽  
Compensation Mechanism

Neural-Network Based Learning Control of Flexible Mechanism With Application to a Single-Link Flexible Arm

1994 ◽  
Vol 116 (4) ◽  
pp. 792-795 ◽  
Author(s):  
Kazuhiko Takahashi ◽  
Ichiro Yamada
Keyword(s):  
Neural Network ◽  
Angular Position ◽  
Target System ◽  
Space Representation ◽  
Robot Arm ◽  
Flexible Robot ◽  
Neural Network Controller ◽  
Flexible Arm ◽  
Single Link ◽  
Flexible Mechanism

This paper shows the effectiveness of a neural-network controller for controlling a flexible mechanism such as a flexible robot arm. An adaptive-type direct neural controller is formulated using state-space representation of the dynamics of the target system. The characteristics of the controller are experimentally investigated by using it to control the tip angular position of a single-link flexible arm.

Vertical Planar Underactuated Manipulation Using a Gravity Compensation Mechanism

2005 ◽  
Vol 17 (5) ◽  
pp. 553-559 ◽  
Author(s):  
Yoshiki Ono ◽  
◽  
Toshio Morita ◽  
Keyword(s):  
Degrees Of Freedom ◽  
Position Control ◽  
Equilibrium Points ◽  
Gravity Compensation ◽  
Compensation Mechanism ◽  
Angular Variation ◽  
Underactuated Manipulator ◽  
Zero Equilibrium ◽  
Three Degrees Of Freedom ◽  
Active Base

We propose generating and erasing equilibrium points for passive joints, together with an underactuated manipulator having both vertical and horizontal planar type. This manipulator implements three degrees of freedom (DOF) by combining a passive two-DOF mechanical gravity canceller and an active base joint. Equilibrium points are erased and adjusted by angular variation of the base joint so equilibrium points are erased when gravity torque is zero. If gravity torque is not zero, equilibrium points depend on angular variation of the base joint. Experimental results show position control of the distal link through the mechanical gravity canceller is effective for underactuated manipulation.

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