Modeling and control of robotic manipulators with rigid and flexible cables

In this paper modeling and control of cable driven redundant parallel manipulators with flexible cables, are studied in detail. Based on new results, in fully constrained cable robots, cables can be modeled as axial linear springs. Considering this assumption the system dynamics formulation is developed using Lagrange approach. Since in this class of robots, all the cables should remain in tension for the whole workspace, the notion of internal forces are introduced and incorporated in the proposed control algorithm. The control algorithm is developed in cable coordinates in which the internal forces play an important role. Finally, asymptotic stability of the closed loop system is analyzed through Lyapunov theorem, and the performance of the proposed algorithm is studied by simulations.

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Elastodynamic Analysis and Control of Industrial Robotic Manipulators With Piezoelectric-Material-Based Elastic Members

Journal of Mechanical Design ◽

10.1115/1.2826733 ◽

1995 ◽

Vol 117 (4) ◽

pp. 640-643 ◽

Cited By ~ 9

Author(s):

Seung-Bok Choi ◽

B. S. Thompson ◽

M. V. Gandhi

Keyword(s):

Dynamic Modeling ◽

Robotic Manipulators ◽

Feedback Controller ◽

Superior Performance ◽

Element Formulation ◽

Feedback Controllers ◽

End Effector ◽

Modeling And Control ◽

And Control ◽

Control Methodology

This technical brief addresses the dynamic modeling and control methodology to suppress structural deflections of industrial robotic manipulators featuring elastic members retrofitted with surface bonded piezoelectric actuators and sensors. The dynamic modeling is accomplished by developing a finite element formulation. The governing equation of motion is then modified by condensing the electric potential vectors, and subsequently two different feedback controllers are established: a constantgain feedback controller and a constant-amplitude feedback controller. Computer simulations are undertaken in order to demonstrate the superior performance characteristics, such as smaller deflections at the end-effector, to be accrued from the proposed methodology.

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Modeling and control for underwater robotic manipulators - an example

Proceedings of International Conference on Robotics and Automation ◽

10.1109/robot.1997.619283 ◽

2002 ◽

Cited By ~ 12

Author(s):

T.J. Tarn ◽

S.P. Yang

Keyword(s):

Robotic Manipulators ◽

Modeling And Control ◽

And Control

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A Review of Fuzzy Logic Based Control of Robotic Manipulators

Volume 7: Dynamic Systems and Control; Mechatronics and Intelligent Machines, Parts A and B ◽

10.1115/imece2011-64527 ◽

2011 ◽

Author(s):

Jayant B. Khurpade ◽

Sukhdeep S. Dhami ◽

Sukhwant S. Banwait

Keyword(s):

Fuzzy Logic ◽

Performance Indicators ◽

Fuzzy Systems ◽

Robotic Manipulators ◽

Kinematics And Dynamics ◽

Modeling And Control ◽

Quantitative Results ◽

Non Linear Systems ◽

Computationally Intensive ◽

And Control

Robotic manipulators are complex mechanisms due to which their kinematics and dynamics are nonlinear in nature and computationally intensive. Fuzzy logic based approach provides an alternative for modeling and control of non-linear systems and hence has been extensively applied in the field of robotics. This paper presents a review of fuzzy logic based techniques for modeling and control of robotic manipulators. The survey is reported in terms of objectives, types of robotic manipulators, types and structures of fuzzy systems employed. A summary of quantitative results is presented as performance indicators of fuzzy modeling and control of robotic manipulators.

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