A13 Basic Research of End Point Position Control for Two Links Flexible Robot Arm

2009 ◽  
Vol 2009.11 (0) ◽  
pp. 167-170
Author(s):  
Kiyoharu NAKAGAWA ◽  
Ryouta AIKAWA ◽  
Toru WATANABE ◽  
Kazuto SETO
Keyword(s):  
Position Control ◽  
Basic Research ◽  
Robot Arm ◽  
Flexible Robot ◽  
Point Position ◽  
End Point

End-point tracking for a flexible robot arm

1994 ◽  
Vol 27 (14) ◽  
pp. 687-692
Author(s):  
L. Benvenuti ◽  
M.D. Di Benedetto
Keyword(s):  
Robot Arm ◽  
Flexible Robot ◽  
End Point ◽  
Point Tracking

Dynamic Finite Element Analysis of the Position Control System of a Two-Link Horizontal Flexible Robot

1990 ◽  
Vol 2 (2) ◽  
pp. 83-90
Author(s):  
Hiroyuki Kojima ◽  
Keyword(s):  
Finite Element ◽  
Control System ◽  
Position Control ◽  
Velocity Curve ◽  
Element Formulation ◽  
Robot Arm ◽  
Flexible Robot ◽  
Element Analysis ◽  
Flexible Arm ◽  
Position Control System

In this paper, a finite element formulation method for a horizontal flexible robot arm with two links is first presented. In the analysis, the kinetic energy of the flexible arm is represented in brief compared with previous methods, and the matrix equation of motion in consideration of the nonlinear forces, such as the Coriolis force, is derived by the finite element method and the variational theorem. Then, the state equation of the mechatronics system consisting of the flexible arm and the position control system is obtained. Secondly, numerical simulations in the case of applying path control based on the trapezoidal velocity curve are carried out by use of the Wilson-<I>θ</I> method, and the effects of the bending rigidity and the shape of the trapezoidal velocity curve on the dynamic characteristics of the mechatronics system are demonstrated.

Controller Design Robust to Frequency Variation in a One-Link Flexible Robot Arm

1989 ◽  
Vol 111 (1) ◽  
pp. 9-14 ◽  
Author(s):  
V. V. Korolov ◽  
Y. H. Chen
Keyword(s):  
Position Control ◽  
Controller Design ◽  
Wide Spectrum ◽  
Operating Conditions ◽  
Frequency Variation ◽  
Robot Arm ◽  
Flexible Robot ◽  
Complete Knowledge ◽  
Control Scheme ◽  
Frequency Variations

The end-point position control problem of a one-link flexible robot arm under wide spectrum of operating conditions is considered. Natural frequency variations may arise in practice and are treated as the uncertainty. A robust control scheme is designed for the manipulator for some guaranteed performances without the complete knowledge of uncertainty. The only required information of the uncertainty is its possible bound.

Experiments on the position control of a one-link flexible robot arm

1989 ◽  
Vol 5 (3) ◽  
pp. 373-377 ◽  
Author(s):  
W.-J. Wang ◽  
S.-S. Lu ◽  
C.-F. Hsu
Keyword(s):  
Position Control ◽  
Robot Arm ◽  
Flexible Robot

End-point position control of a single-link arm using shape memory alloy actuators

2003 ◽  
Vol 217 (8) ◽  
pp. 871-882 ◽  
Author(s):  
Y M Han ◽  
C J Park ◽  
S B Choi
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Governing Equation ◽  
Position Control ◽  
Sliding Mode ◽  
Point Position ◽  
End Point ◽  
Single Link ◽  
Point Trajectories ◽  
Sma Spring

This article presents a novel type of actuating mechanism for the end-point trajectory control of a single-link system. The actuating mechanism consists of two sets of shape memory alloy (SMA) springs to generate a desired link motion of the system. The governing equation of motion is derived using the Lagrangian equation and Jacobian matrix. The actuator dynamic of the SMA spring is then empirically identified and incorporated into the governing equation. A sliding mode controller that is robust to parameter variations such as the time constant of the SMA actuator is formulated to achieve desired end-point trajectories of the single-link system. The controller is experimentally realized and tracking control performances for various end-point position trajectories are presented. In addition, the simulated control results are compared with the measured ones in order to validate the proposed control model.

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