scholarly journals VALIDATION OF THE DYNAMIC MODEL OF THE PLANAR ROBOTIC ARM WITH USING GRAVITY TEST

2020 ◽  
Vol 2020 (5) ◽  
pp. 4210-4215
Author(s):  
Monika Trojanova ◽  
Tomas Cakurda
Keyword(s):  
Dynamic Model ◽  
Robotic Arm ◽  
Gravity Test

scholarly journals Decomposed dynamic control for a flexible robotic arm in consideration of nonlinearity and the effect of gravity

2017 ◽  
Vol 9 (2) ◽  
pp. 168781401769410 ◽  
Author(s):  
Haibin Yin ◽  
Yongguang Li ◽  
Junfeng Li
Keyword(s):  
Dynamic Model ◽  
Experimental Verification ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Dynamic Control ◽  
Robotic Arm ◽  
Strong Nonlinearity ◽  
Nonlinear Dynamic Model ◽  
Residual Vibration ◽  
Theoretical Derivation

This article presents a nonlinear dynamic model of a flexible robotic arm considering nonlinearity from elastic deformation and the effect of gravity. The dynamic model can be decomposed into separate flexible and rigid subsystems. A decomposed dynamic control, including flexible and rigid dynamic controls, is proposed for the controller of the flexible robotic arm. Optimization is used in this flexible dynamic control to obtain the desired trajectory and can deal offline with strong nonlinearity, but it is excessively dependent on the accuracy of the model, so it is not robust enough and has poor disturbance-rejection capabilities. The rigid dynamic control, by contrast, is expected to be sufficiently robust to compensate for uncertain factors. Therefore, a hybrid sliding mode control is proposed to track the desired trajectory and further suppress residual vibration. Additionally, the actual flexible modes are estimated to accurately calculate the component of the proposed controller. This study addresses the theoretical derivation and experimental verification of the proposed controller.

scholarly journals Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

2021 ◽  
Vol 343 ◽  
pp. 08004
Author(s):  
Mihai Crenganis ◽  
Alexandru Barsan ◽  
Melania Tera ◽  
Anca Chicea
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Inverse Kinematics ◽  
Geometric Approach ◽  
Correct Choice ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Inverse Kinematic Problem ◽  
Joint Torques

In this paper, a dynamic analysis for a 5 degree of freedom (DOF) robotic arm with serial topology is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into Simulink®-Simscape™-Multibody™. The dynamic model of the robot in Simscape is a necessary and important step in development of the mechanical structure of the robot. The correct choice of the electric motors is made according to the resistant joint torques determined by running the dynamic analysis. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model block. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. The proposed method for solving the inverse kinematic problem for this type of structure is based on a geometric approach and validated afterwards using SimScape Multibody. Solving the inverse kinematics problem is a mandatory step in the dynamic analysis of the robot, this is required to drive the robot on certain user-imposed trajectories. The dynamic model of the serial robot is necessary for the simulation of motion, analysis of the robot’s structure and design of optimal control algorithms.

Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments

2013 ◽  
Vol 5 (2) ◽  
Author(s):  
Tianjiang Zheng ◽  
David T. Branson ◽  
Emanuele Guglielmino ◽  
Rongjie Kang ◽  
Gustavo A. Medrano Cerda ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Model Validation ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Octopus Vulgaris ◽  
Light Weight ◽  
Continuum Robots ◽  
Continuum Structure ◽  
External Forces ◽  
Good Agreement

Octopuses are an example of dexterous animals found in nature. Their arms are flexible, can vary in stiffness, grasp objects, apply high forces with respect to their relatively light weight, and bend in all directions. Robotic structures inspired by octopus arms have to undertake the challenges of a high number of degrees of freedom (DOF), coupled with highly flexible continuum structure. This paper presents a kinematic and dynamic model for underwater continuum robots inspired by Octopus vulgaris. Mass, damping, stiffness, and external forces such as gravity, buoyancy, and hydrodynamic forces are considered in the dynamic model. A continuum arm prototype was built utilizing longitudinal and radial actuators, and comparisons between the simulated and experimental results show good agreement.

Dynamic model with sensor and actuator for an articulated robotic arm

2012 ◽  
Vol 24 (3-4) ◽  
pp. 573-581 ◽  
Author(s):  
José de Jesús Rubio ◽  
Javier Serrano ◽  
Maricela Figueroa ◽  
Carlos F. Aguilar-Ibañez
Keyword(s):  
Dynamic Model ◽  
Robotic Arm

scholarly journals DYNAMIC MODEL AND CONTROL OF 2-DOF ROBOTIC ARM

2018 ◽  
Vol 8 (2) ◽  
pp. 141-150 ◽  
Author(s):  
Mesut Hüseyinoğlu ◽  
Tayfun ABUT
Keyword(s):  
Dynamic Model ◽  
Robotic Arm ◽  
And Control

scholarly journals A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm

2013 ◽  
Vol 7 ◽  
Author(s):  
Kohei Nakajima ◽  
Helmut Hauser ◽  
Rongjie Kang ◽  
Emanuele Guglielmino ◽  
Darwin G. Caldwell ◽  
...  
Keyword(s):  
Case Studies ◽  
Dynamic Model ◽  
Robotic Arm ◽  
Soft Body ◽  
Soft Robotic Arm

Short-term volume and turgor regulation in yeast

2008 ◽  
Vol 45 ◽  
pp. 147-160 ◽  
Author(s):  
Jörg Schaber ◽  
Edda Klipp
Keyword(s):  
Dynamic Model ◽  
Volume Change ◽  
Volume Regulation ◽  
Time Course ◽  
Osmotic Shock ◽  
Intracellular Concentration ◽  
Short Term ◽  
Hydrodynamic Property ◽  
Turgor Regulation ◽  
Thermodynamic Framework

Volume is a highly regulated property of cells, because it critically affects intracellular concentration. In the present chapter, we focus on the short-term volume regulation in yeast as a consequence of a shift in extracellular osmotic conditions. We review a basic thermodynamic framework to model volume and solute flows. In addition, we try to select a model for turgor, which is an important hydrodynamic property, especially in walled cells. Finally, we demonstrate the validity of the presented approach by fitting the dynamic model to a time course of volume change upon osmotic shock in yeast.

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