Robust Control of Flexible Robot Manipulators

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

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Adaptive Robust Control Design for Robot Manipulators Based on Online Estimation of the Lumped Time-Varying Model Uncertainties

Adaptive Control for Robotic Manipulators ◽

10.1201/9781315166056-16 ◽

2016 ◽

pp. 374-400

Author(s):

Meysar Ƶeinali ◽

Ebrahim Esmailzadeh

Keyword(s):

Robust Control ◽

Robot Manipulators ◽

Control Design ◽

Adaptive Robust Control ◽

Time Varying ◽

Model Uncertainties ◽

Online Estimation ◽

Robust Control Design

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Image-based robust control of robot manipulators with image Jacobian and dynamics uncertainties

2008 IEEE International Conference on Automation Science and Engineering ◽

10.1109/coase.2008.4626488 ◽

2008 ◽

Cited By ~ 3

Author(s):

Chin-Su Kim ◽

Eun-Jong Mo ◽

Sung-Min Han ◽

Min-Seok Jie ◽

Kang-Woong Lee

Keyword(s):

Robust Control ◽

Robot Manipulators ◽

Image Jacobian

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Dynamic Analysis of Flexible Manipulator Arms With Distributed Viscoelastic Damping

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2802399 ◽

1997 ◽

Vol 119 (4) ◽

pp. 831-833 ◽

Cited By ~ 1

Author(s):

Fan Zijie ◽

Lu Bingheng ◽

C. H. Ku

Keyword(s):

Finite Element ◽

Dynamic Response ◽

Dynamic Analysis ◽

Virtual Work ◽

Robot Manipulators ◽

Flexible Manipulator ◽

Viscoelastic Damping ◽

Principle Of Virtual Work ◽

Flexible Robot ◽

Damping Treatments

The main objective of this work is to predict the effect of distributed viscoelastic damping on the dynamic response of multilink flexible robot manipulators. A general approach, based on the principle of virtual work, is presented for the modeling of flexible robot arms with distributed viscoelastic damping. The finite element equations are developed, and a recurrence formulation for numerical integration of these equations is obtained. It is demonstrated, by a numerical example, that the viscoelastic damping treatments have a significant effect on the dynamic response of flexible robot manipulators.

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