scholarly journals Optimal Trajectories for Flexible-Link Manipulator Slewing Using Recursive Quadratic Programming: Experimental Verification

1997 ◽  
Vol 119 (4) ◽  
pp. 833-836 ◽  
Author(s):  
G. G. Parker ◽  
G. R. Eisler ◽  
R. D. Robinett ◽  
J. T. Feddema
Keyword(s):  
Experimental Verification ◽  
Tracking Error ◽  
Minimum Time ◽  
Flexible Link ◽  
Flexible Robot ◽  
Joint Angles ◽  
Actuator Dynamics ◽  
Straight Line ◽  
Servo Actuator ◽  
Line Tracking

Experimental verification of minimum time, straight-line tracking using a two-link planar flexible robot is presented. Previously reported minimum-time angle histories are precompensated to account for joint servo-actuator dynamics. Using the precompensated joint commands, the optimal joint angles are tracked with such fidelity that the tip tracking error is less than 1.8 percent of the tip travel distance.

On the Properties of a Dynamic Model of Flexible Robot Manipulators

1998 ◽  
Vol 120 (1) ◽  
pp. 8-14 ◽  
Author(s):  
Marco A. Arteaga
Keyword(s):  
Dynamic Model ◽  
Structural Properties ◽  
Robot Manipulators ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Control Design ◽  
Flexible Manipulator ◽  
Robot Dynamics ◽  
Flexible Link ◽  
Flexible Robot

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.

Robust Vibration/Force Control of a 2 D.O.F. Arm Having One Flexible Link with Artificial Pneumatic Actuators

2002 ◽  
Vol 8 (3) ◽  
pp. 405-423 ◽  
Author(s):  
No-Cheol Park ◽  
Hyung-Wug Park ◽  
Hyun Seok Yang ◽  
Young-Pil Park
Keyword(s):  
Force Control ◽  
Controller Design ◽  
Design Method ◽  
Strong Nonlinearity ◽  
Flexible Link ◽  
Muscle Type ◽  
Singular Perturbation Method ◽  
Actuator Dynamics ◽  
Pneumatic Muscle ◽  
Artificial Pneumatic Muscle

A flexible link of a manipulator has an advantage over a rigid link in the sense that, not only is it light-weighted and thus can move fast using a small-sized actuator, but also that it is safer when it comes into contact with its environment, in particular with humans. However, the vibration due to the flexibility of the link makes it difficult to control the position of the end-point with precision, and when the link is in contact with its environment the problem becomes further complicated. On the other hand, if an actuator can deliver enough force while maintaining proper compliance, it would be advantageous for the sake of safety. An artificial pneumatic muscle-type actuator is an adequate choice in this case. However, the dynamic characteristics of this particular actuator possess strong nonlinearity and load-dependency, and thus a number of problems need to be resolved for its successful application as an actuator. In this work, the position and force control problem of a two-d.o.f. arm system having a flexible second link with artificial pneumatic muscle-type actuators is addressed. A composite controller design method is proposed in the framework of the singular perturbation method. Various robust control schemes are designed in order to meet with payload variation, parameter uncertainty, unmodelled vibration mode and actuator dynamics, both in the slow and the fast subsystems. Simulations and experimental results confirm the effectiveness of the suggested composite control scheme.

Toward a Taxonomy of Automobile Driving: I. Tracking

1966 ◽  
Vol 22 (3) ◽  
pp. 759-762 ◽  
Author(s):  
Nathaniel J. Ehrlich
Keyword(s):  
Mathematical Biophysics ◽  
Automobile Driving ◽  
Tracking Task ◽  
Constant Speed ◽  
The Other ◽  
Tracking Performance ◽  
Error Feedback ◽  
Public Road ◽  
Straight Line ◽  
Line Tracking

An experiment was conducted to explore the characteristics of straight line tracking performance in automobile driving. Two Ss were used in driving an automobile on a public road at 50, 60, 70, and 80 mph. Photographic records were made of the track of the automobile while the drivers were instructed simply to “drive as straight as possible” at a constant speed. An analysis of the tracking records indicates that different strategies were being employed by the two drivers. One corresponded to the mathematical biophysics formulation of Rashevsky (avoidance of lateral boundaries) while the other operated under the more familiar psychological laboratory tracking task (direct error-feedback). The experiment is an exploratory effort in the microcharacteristics of automobile driving.

Approximate Optimal Trajectories for Flexible-Link Manipulator Slewing Using Recursive Quadratic Programming

1993 ◽  
Vol 115 (3) ◽  
pp. 405-410 ◽  
Author(s):  
G. R. Eisler ◽  
R. D. Robinett ◽  
D. J. Segalman ◽  
J. D. Feddema
Keyword(s):  
Quadratic Programming ◽  
Horizontal Plane ◽  
Tracking Error ◽  
Flexible Manipulator ◽  
Joint System ◽  
Recursive Quadratic Programming ◽  
Straight Line ◽  
Tip Position ◽  
The Impact ◽  
Structural Mode

The method of recursive quadratic programming, coupled with a homotopy method, has been used to generate approximate minimum-time and minimum tracking-error tip trajectories for two-link flexible manipulator movements in the horizontal plane. The manipulator is modeled with an efficient finite-element scheme for a multi-link, multi-joint system with bending only in the horizontal-plane. Constraints on the trajectory include boundary conditions on link tip position, final joint velocities, accelerations and torque inputs to complete a rest-to-rest maneuver, straight-line tip tracking between boundary positions, and motor torque limits. Trajectory comparisons demonstrate the impact of torque input smoothness on structural mode excitation. Applied torques retain much of the qualitative character of rigid-body slewing motion with alterations for energy dissipation.

Printable modular robot: an application of rapid prototyping for flexible robot design

2015 ◽  
Vol 42 (2) ◽  
pp. 149-155 ◽  
Author(s):  
Dennis Krupke ◽  
Florens Wasserfall ◽  
Norman Hendrich ◽  
Jianwei Zhang
Keyword(s):  
Modular Robot ◽  
Flexible Robot ◽  
Physical Force ◽  
Content Type ◽  
Novel Approach ◽  
Servo Actuator ◽  
3D Printed ◽  
Research And Education ◽  
Education Groups ◽  
Single Set

Purpose – This paper aims to present the design of a modular robot with 3D-printing technology. Design/methodology/approach – The robot consists of a number of autonomous modules coupled by magnetic interfaces. Each module combines 3D-printed mechanical parts with widely available standard electronic components, including a microcontroller and a single servo actuator. The mechanical and electrical connection is provided by a single set of magnets which apply the physical force between the modules and at the same time serve as wires for power and communication. Findings – The PMR is a full-featured robotic device, well integrated into a simulation framework, capable to execute common locomotion patterns but still extremely affordable (approximately 25/module). Furthermore, the design is easy to extend and replicate for other research and education groups. Originality/value – This paper explores a novel approach of connecting devices in a complex way by utilizing very simple magnetic parts. A second focus lies on the concept of closely integrating simulation and hardware development, blurring the edge between digital and physical word.

Design of Strait-Line Tracking Controller of Under-Actuated USV Based on Back-Stepping Method and Feedback Compensation

2011 ◽  
Vol 48-49 ◽  
pp. 391-396
Author(s):  
Yu Long Ma ◽  
Jian Da Han ◽  
Yu Qing He
Keyword(s):  
High Performance ◽  
Mobile Robotics ◽  
Path Following ◽  
Main Research ◽  
Path Following Control ◽  
Straight Line ◽  
Feedback Compensation ◽  
Line Tracking ◽  
Line Path ◽  
Yaw Angle

Unmanned surface vehicle (USV) system has been one of main research directions in mobile robotics because it can be used in many situations. However, high performance path following control, especially straight line tracking control, has been one of the difficult problems in autonomous control of USV system. In this paper, we propose a new straight line path following control algorithm by combining yaw angle feedback and back-stepping technique and show its closed loop stability. The most absorbing advantage of the proposed controller is that it not only reserve the good performance of back-stepping controller but also bring much faster convergent rate, which is very important in real applications. The simulation results with respect to a training ship model have shown the feasibility and validity of the proposed method.

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