scholarly journals Modelling and Open-Loop Control of a Single-Link Flexible Manipulator with Genetic Algorithms

2001 ◽  
Vol 20 (1) ◽  
pp. 39-55 ◽  
Author(s):  
M. H. Shaheed ◽  
M. O. Tokhi ◽  
A. J. Chipperfield ◽  
A. K. M. Azad
Keyword(s):  
Genetic Algorithms ◽  
Open Loop ◽  
Flexible Manipulator ◽  
Open Loop Control ◽  
Loop Control ◽  
Single Link

Point Control of a One-Link Flexible Manipulator

1986 ◽  
Vol 53 (1) ◽  
pp. 23-27 ◽  
Author(s):  
S. B. Skaar ◽  
D. Tucker
Keyword(s):  
Transfer Functions ◽  
Control Strategies ◽  
Open Loop ◽  
Flexible Manipulator ◽  
Distributed Parameter ◽  
Loop Control ◽  
Control Approach ◽  
Alternative Approach ◽  
Single Link ◽  
Point Control

An alternative approach to the control of nonrigid, distributed parameter systems is presented. Transfer functions that relate the response of points on the system to a controlling force or torque are used in place of ordinary differential equations, which represent an approximation to the system dynamics. The implications of this “point control” approach are discussed with regard to plant modeling accuracy, uncontrolled regions, open-loop and closed-loop control strategies, system identification, and feedback estimation. Sample optimal control histories are illustrated for a single-link manipulator member with end load.

On the Accuracy of End-Point Trajectory Tracking for Flexible Arms by Noncausal Inverse Dynamic Solutions

1991 ◽  
Vol 113 (2) ◽  
pp. 320-324 ◽  
Author(s):  
H. Moulin ◽  
E. Bayo
Keyword(s):  
Flexible Structures ◽  
Open Loop ◽  
Open Loop Control ◽  
Inverse Dynamic ◽  
Element Discretization ◽  
Loop Control ◽  
End Point ◽  
Flexible Arm ◽  
Single Link ◽  
Flexible Arms

The problem of open-loop control of the end-point trajectory of a single-link flexible arm by an inverse dynamic solution is addressed in this paper. A finite element discretization of the system is used to obtain a set of ordinary differential equations describing the motion. Theoretical difficulties pertaining to the inverse problem for flexible structures are exposed, and it is shown that a noncausal solution for the actuating torque enables a tracking of an arbitrary tip displacement with any desired accuracy.

Open-Loop Control of a Flexible Manipulator With Two Links: Experimental Results

2001 ◽  
Author(s):  
G. Mimmi ◽  
L. Frosini ◽  
P. Pennacchi ◽  
C. Rottenbacher
Keyword(s):  
Open Loop ◽  
Experimental Results ◽  
Flexible Manipulator ◽  
Control Technique ◽  
Open Loop Control ◽  
Residual Vibration ◽  
Rectangular Section ◽  
Loop Control ◽  
System Parameters ◽  
Set Up

Abstract This paper describes the experimental results of an open-loop control technique applied to a flexible manipulator, specially designed for space duties, in order to reduce the residual vibrations at the end of the positioning. The experimental set-up is a system with two flexible links with rectangular section connected by rotational joints. First, the experimental identification of the system parameters has been carried out. Then, four different motion inputs have been implemented. The performances of these motion inputs are compared in terms of residual vibration at the end of the positioning. The experimental results confirm the effectiveness of the motion input pre-shaping technique in the reduction of the residual vibrations.

Open-loop control of compensation for optical propagation through a turbulent shear flow

1998 ◽  
Author(s):  
C. Truman ◽  
Lenore McMackin ◽  
Robert Pierson ◽  
Kenneth Bishop ◽  
Ellen Chen
Keyword(s):  
Shear Flow ◽  
Open Loop ◽  
Turbulent Shear ◽  
Turbulent Shear Flow ◽  
Open Loop Control ◽  
Loop Control ◽  
Optical Propagation

Precise open-loop control of MEMS deformable mirror shape

2008 ◽  
Author(s):  
Thomas Bifano ◽  
Jason Stewart ◽  
Alioune Diouf
Keyword(s):  
Open Loop ◽  
Deformable Mirror ◽  
Open Loop Control ◽  
Loop Control

Responses and Optimization of a PID-Based Speed Regulating System of the Planetary Mixer

2011 ◽  
Vol 418-420 ◽  
pp. 1865-1868
Author(s):  
Ming Jin Yang ◽  
Xi Wen Li ◽  
Zhi Gang Wang ◽  
Tie Lin Shi
Keyword(s):  
Control System ◽  
Open Loop ◽  
Open Loop Control ◽  
Efficient Operation ◽  
Loop Control ◽  
Loop Control System ◽  
Response Optimization ◽  
Close Loop Control ◽  
Close Loop Control System

The performance of speed regulating is very important to the mixing process with safe, efficient operation and high quality of production. Strategies and practices of responses and optimization of a PID-based speed regulating system of a planetary mixer were presented in this paper. Research results show that: by means of the signal constraint function presented by Simulink Response Optimization, optimization PID parameters of the 2-DOF-PID controller can be obtained, and the response of close-loop control system has quite good performance of overshoot, response time, and stability compared with an open-loop control system.

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