Control of a two-link (rigid-flexible) manipulator

2015 ◽  
Author(s):  
Mustafa Turki Hussein ◽  
Mohammed Najeh Nemah
Keyword(s):  
Flexible Manipulator

Output Constraint Boundary Control of a Flexible Manipulator

2020 ◽  
Author(s):  
Xiongbin Chen ◽  
Yilin WU ◽  
Ruifeng Xu ◽  
Hongyi Qu ◽  
Yu Liu ◽  
...  
Keyword(s):  
Boundary Control ◽  
Flexible Manipulator ◽  
Output Constraint

Vibration Control of a Flexible Manipulator Driven by a Pneumatic Rodless Cylinder

ROBOT ◽  
2012 ◽  
Vol 34 (1) ◽  
pp. 9
Author(s):  
Zhicheng QIU ◽  
Bin WANG ◽  
Jianda HAN ◽  
Yuechao WANG
Keyword(s):  
Vibration Control ◽  
Flexible Manipulator

scholarly journals The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1522
Author(s):  
Fuli Zhang ◽  
Zhaohui Yuan
Keyword(s):  
Dynamic Model ◽  
Vibration Suppression ◽  
Control Method ◽  
Coupling Effect ◽  
Flexible Manipulator ◽  
Flexible Beam ◽  
Robot Dynamics ◽  
Joint Friction ◽  
Balance Principle ◽  
Multivariable Feedback

The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.

Sampled-data extended state observer-based backstepping control of two-link flexible manipulator

2019 ◽  
Vol 41 (13) ◽  
pp. 3581-3599 ◽  
Author(s):  
Umesh Kumar Sahu ◽  
Bidyadhar Subudhi ◽  
Dipti Patra
Keyword(s):  
Control Strategies ◽  
Estimation Error ◽  
Experimental Studies ◽  
State Observer ◽  
Lyapunov Theory ◽  
Extended State Observer ◽  
Flexible Manipulator ◽  
Sampled Data ◽  
Extended State ◽  
Model Uncertainties

Currently, space robots such as planetary robots and flexible-link manipulators (FLMs) are finding specific applications to reduce the cost of launching. However, the structural flexible nature of their arms and joints leads to errors in tip positioning owing to tip deflection. The internal model uncertainties and disturbance are the key challenges in the development of control strategies for tip-tracking of FLMs. To deal with these challenges, we design a tip-tracking controller for a two-link flexible manipulator (TLFM) by developing a sampled-data extended state observer (SD-ESO). It is designed to reconstruct uncertain parameters for accurate tip-tracking control of a TLFM. Finally, a backstepping (BS) controller is designed to attenuate the estimation error and other bounded disturbances. Convergence and stability of the proposed control system are investigated by using Lyapunov theory. The benefits (control performance and robustness) of the proposed SD-ESO-based BS controller are compared with other similar approaches by pursuing both simulation and experimental studies. It is observed from the results obtained that SD-ESO-based BS Controller effectively compensates the deviation in tip-tracking performance of TLFM due to non-minimum phase behavior and model uncertainties with an improved transient response.

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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