Scaling laws for the dynamics and control of flexible-link manipulators

2003 ◽  
Author(s):  
M. Ghanekar ◽  
D.W.L. Wang ◽  
G.R. Heppler
Keyword(s):  
Scaling Laws ◽  
Flexible Link ◽  
Dynamics And Control ◽  
And Control

INTRODUCTION

2012 ◽  
Vol 22 (04) ◽  
pp. 1202002 ◽  
Author(s):  
CHANGPIN LI ◽  
YANG QUAN CHEN ◽  
BLAS M. VINAGRE ◽  
IGOR PODLUBNY
Keyword(s):  
Fractional Calculus ◽  
Scaling Laws ◽  
Power Laws ◽  
Fractional Dynamics ◽  
Long Range Interactions ◽  
Potential Applications ◽  
Dynamics And Control ◽  
Long Memory Processes ◽  
Fractional Differential ◽  
And Control

Fractional Dynamics and Control is emerging as a new hot topic of research which draws tremendous attention and great interest. Although the fractional calculus appeared almost in the same era when the classical (or integer-order) calculus was born, it has recently been found that it can better characterize long-memory processes and materials, anomalous diffusion, long-range interactions, long-term behaviors, power laws, allometric scaling laws, and so on. Complex dynamical evolutions of these fractional differential equation models, as well as their controls, are becoming more and more important due to their potential applications in the real world. This special issue includes one review article and twenty-three regular papers, covering fundamental theories of fractional calculus, dynamics and control of fractional differential systems, and numerical calculation of fractional differential equations.

A novel rigid–flexible link combined lunar sampler and its basic dynamics and control

2014 ◽  
Vol 38 ◽  
pp. 41-47 ◽  
Author(s):  
Yun Ling ◽  
Wei Lu ◽  
Changcheng Wu ◽  
Aiguo Song ◽  
Chao Feng
Keyword(s):  
Flexible Link ◽  
Dynamics And Control ◽  
And Control

Finite Element-Based Control of a Single-Link Flexible Hydraulic Manipulator

2017 ◽  
Author(s):  
Petri Mäkinen ◽  
Jouni Mattila
Keyword(s):  
Finite Element ◽  
Controller Design ◽  
Hydraulic Cylinder ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Hydraulic Actuator ◽  
Single Link ◽  
Dynamics And Control ◽  
The Stability ◽  
And Control

In this study, a stability-guaranteed, nonlinear, finite element-based control is presented for a single-link flexible manipulator with hydraulic actuation, subject to experimental validation. The strong, inherent nonlinearities of the hydraulic cylinder and fluid dynamics, coupled with flexible link dynamics, cause remarkable challenges in controlling the system effectively. In an attempt to cope with these challenges, a controller based on the Virtual Decomposition Control (VDC) approach is introduced. The VDC approach takes advantage of subsystem-dynamics-based control, enabling the handling of the dynamics and control of the hydraulic actuator and the flexible link separately, thus keeping the controller design relatively simple. The rigorous stability theory of the VDC approach guarantees the stability of the entire system. The experiments demonstrate the VDC controller’s performance in end-point control with built-in vibration dampening.

Dynamics and Control of Vertical-Plane Motion for an Electrohydraulically Actuated Single-Flexible-Link Arm

1992 ◽  
Vol 114 (1) ◽  
pp. 89-95 ◽  
Author(s):  
Liang-Wey Chang
Keyword(s):  
Motion Tracking ◽  
Inverse Dynamics ◽  
Low Cost ◽  
Vertical Plane ◽  
Plane Motion ◽  
Flexible Link ◽  
Actuator Dynamics ◽  
Nonlinear Motion ◽  
Dynamics And Control ◽  
And Control

A research tool was developed for the dynamics and control of a single-flexible-link arm based on the Equivalent Rigid Link System (ERLS) dynamic model and the inverse dynamics of the arm and the actuator. The arm moved in a vertical plane and was actuated by an electrohydraulic motor. The required torque was computed based on the inverse dynamics of the ERLS model. The driving current was then predicted by the inverse actuator dynamics. This paper also presents a 16-bit microcomputer-based low-cost implementation of a nonlinear motion tracking control. The dynamic behavior of the control system was studied through the computer simulation and the experiment. Furthermore, the superiority of the flexible-body control was also proved through the comparison to the rigid-body control.

scholarly journals Dynamics and control analysis of a single flexible link robot with translational joints

2020 ◽  
Vol 3 (4) ◽  
pp. first
Author(s):  
Bien Duong Xuan
Keyword(s):  
Dynamic Modeling ◽  
Control Analysis ◽  
Flexible Link ◽  
Lagrange Equations ◽  
Flexible Robots ◽  
Modeling And Control ◽  
Dynamics And Control ◽  
Translational Joint ◽  
Joint Variable ◽  
And Control

Modern design always aims at reducing mass, simplifying the structure, and reducing the energy consumption of the system especially in robotics. These targets could lead to lowing cost of the material and increasing the operating capacity. The priority direction in robot design is optimal structures with longer lengths of the links, smaller and thinner links, more economical still warranting ability to work. However, all of these structures such as flexible robots are reducing rigidity and motion accuracy because of the effect of elastic deformations. Therefore, taking the effects of elastic factor into consideration is absolutely necessary for kinematic, dynamic modeling, analyzing, and controlling flexible robots. Because of the complexity of modeling and controlling flexible robots, the single-link and two-link flexible robots with only rotational joints are mainly mentioned and studied by most researchers. It is easy to realize that combining the different types of joints of flexible robots can extend their applications, flexibility, and types of structure. However, the models consisting of rotational and translational joints will make the kinematic, dynamic modeling, and control becomes more complex than models that have only rotational joints. This study focuses on the dynamics model and optimal controller based on genetic algorithms (GA) for a single flexible link robot (FLR) with a rigid translational joint. The motion equations of the FLR are built based on the Finite Element Method (FEM) and Lagrange Equations (LE). The difference between flexible manipulators that have only rotational joints and others with the translational joint is presented through boundary conditions. A PID controller is designed with parameters that are optimized by the GA algorithm. The cost function is established based on errors signal of translational joint, elastic displacements of the End-Point (EP) of the FLR. Simulation results show that the errors of the joint variable, the elastic displacements (ED) are destructed in a short time when the system is controlled following the reference point. The results of this study can be basic to research other flexible robots with more joint or combine joint styles.

PROJECT ON ELECTRONIC STEERING SYSYTEM

2018 ◽  
Vol 4 (5) ◽  
pp. 7
Author(s):  
Shivam Dwivedi ◽  
Prof. Vikas Gupta
Keyword(s):  
Steering System ◽  
Essential Elements ◽  
Variable Pressure ◽  
Passenger Cars ◽  
Control Techniques ◽  
Steering Mechanism ◽  
Dynamics And Control ◽  
Active Research ◽  
Electronic Steering ◽  
And Control

As the four-wheel steering (4WS) system has great potentials, many researchers' attention was attracted to this technique and active research was made. As a result, passenger cars equipped with 4WS systems were put on the market a few years ago. This report tries to identify the essential elements of the 4WS technology in terms of vehicle dynamics and control techniques. Based on the findings of this investigation, the report gives a mechanism of electronically controlling the steering system depending on the variable pressure applied on it. This enhances the controlling and smoothens the operation of steering mechanism.

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