Modeling and control of a single-link flexible manipulator featuring a graphite-epoxy composite arm

2002 ◽  
Author(s):  
S.B. Choi ◽  
B.S. Thompson ◽  
M.V. Gandhi
Keyword(s):  
Epoxy Composite ◽  
Flexible Manipulator ◽  
Modeling And Control ◽  
Single Link ◽  
And Control

Influence of backlash in gear reducer on dynamic of single-link manipulator arm

Robotica ◽  
2014 ◽  
Vol 33 (08) ◽  
pp. 1671-1685 ◽  
Author(s):  
Jian-Wei Lu ◽  
Xiao-Ming Sun ◽  
Alexander F. Vakakis ◽  
Lawrence A. Bergman
Keyword(s):  
Dynamic Response ◽  
Dynamic Modeling ◽  
Excitation Frequency ◽  
Planetary Gear ◽  
Flexible Manipulator ◽  
Lumped Mass ◽  
Modeling And Control ◽  
Single Link ◽  
Manipulator Arm ◽  
And Control

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.

Modeling and Control of Linear Two-time Scale Systems: Applied to Single-Link Flexible Manipulator

2006 ◽  
Vol 45 (3) ◽  
pp. 235-265 ◽  
Author(s):  
H. R. Karimi ◽  
M. J. Yazdanpanah ◽  
R. V. Patel ◽  
K. Khorasani
Keyword(s):  
Time Scale ◽  
Flexible Manipulator ◽  
Modeling And Control ◽  
Single Link ◽  
And Control

Study on Variable Structure Vibration Control for Flexible Manipulator

2014 ◽  
Vol 875-877 ◽  
pp. 1961-1966
Author(s):  
Hui Jin Mu
Keyword(s):  
Variable Structure ◽  
Flexible Manipulator ◽  
Robot Arm ◽  
Dynamics Modeling ◽  
Space Robots ◽  
Modeling And Control ◽  
Depth Study ◽  
Operating Space ◽  
And Control ◽  
Dual Arm

In recent years, modeling and control of flexible space robots are extensively researched. Compared with traditional rigid robots, flexible robots have low energy consumption, wide operating space, high carrying capacity and other characteristics. However, due to its special structure, the robot arm will get deformation and vibration in motion, which brings a lot of problems to the positioning and tracking control of flexible space robots. Therefore, directing at the dynamics modeling and control issues of the free-floating flexible dual-arm space robots, this article carries out in-depth study. This paper first studies the elastic deformation and vibration of the flexible space manipulator and the robust control problem of the system trajectory tracking for free-floating flexible dual-arm space robots.

Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator

1989 ◽  
Vol 111 (4) ◽  
pp. 667-672 ◽  
Author(s):  
R. P. Petroka ◽  
Liang-Wey Chang
Keyword(s):  
Dynamic Model ◽  
Robot Manipulator ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Rigid Link ◽  
Future Design ◽  
Single Link ◽  
Manipulator Design ◽  
And Control ◽  
Improved Accuracy

Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model for use in future design and control applications of flexible manipulators.

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