Simulation of Manipulator with Flexible Joint

2013 ◽  
Vol 325-326 ◽  
pp. 999-1003
Author(s):  
Hai Wang ◽  
Xiao Pin Xia
Keyword(s):  
Robot Manipulator ◽  
Dynamic Control ◽  
Control Law ◽  
Static Error ◽  
Lagrange Method ◽  
Flexible Joint ◽  
Joint Flexibility ◽  
Single Link ◽  
Key Factor ◽  
And Control

Joint flexibility is the key factor during dynamic control of robot manipulator. Accurate dynamic model is the fundamental of manipulator system design, analysis and control. This paper adopts Lagrange method to accomplish two degrees freedom manipulator modeling, and then design Backstepping control law according to a single-link manipulator. For the above control law, the proof of the Lyapunov stability is given and simulations are done. The simulated result suggested that the static error is decreased.

Sliding mode based fractional-order iterative learning control for a nonlinear robot manipulator with bounded disturbance

2016 ◽  
Vol 40 (1) ◽  
pp. 49-60 ◽  
Author(s):  
Iman Ghasemi ◽  
Abolfazl Ranjbar Noei ◽  
Jalil Sadati
Keyword(s):  
Fractional Order ◽  
Iterative Learning Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Learning Control ◽  
Iterative Learning ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Text Type ◽  
Single Link

In this paper a new type of sliding mode based fractional-order iterative learning control (ILC) is proposed for nonlinear systems in the presence of uncertainties. For the first time, a sliding mode controller is combined with fractional-order ILC. This sliding mode based [Formula: see text] and [Formula: see text]-type ILC is applied on a nonlinear robot manipulator. Convergence of the proposed method is investigated when the stability is also proved. In this method, the control signal at any iteration is generated in two parts. The first section comes from the sliding mode controller while the second part is output of the fractional-order ILC. The latter signal is assessed using its previous amount and the sliding mode error signal. The achieved control law is capable of controlling nonlinear iterative processes, perturbed by bounded disturbances with high accuracy. The same frequent disturbance is eliminated by the iterative learning part, while the effect of nonrepetitive uncertainty is improved by the sliding mode part. The sliding mode based [Formula: see text]-type ILC (as an adaptive control law) is proposed to control a single-link arm robot. The controller is then improved to sliding mode based [Formula: see text]-type ILC. The effectiveness of the proposed method is again investigated on a single-link robot manipulator through a simulation approach. It is shown that the controller for [Formula: see text] provides performance by means of faster response together with more accuracy with respect to a conventional ILC.

Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator

1989 ◽  
Vol 111 (4) ◽  
pp. 667-672 ◽  
Author(s):  
R. P. Petroka ◽  
Liang-Wey Chang
Keyword(s):  
Dynamic Model ◽  
Robot Manipulator ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Rigid Link ◽  
Future Design ◽  
Single Link ◽  
Manipulator Design ◽  
And Control ◽  
Improved Accuracy

Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model for use in future design and control applications of flexible manipulators.

Dynamic Modelling and Control of an Underactuated Quasi-Omnidireccional Hexapod

2020 ◽  
pp. 377-400
Author(s):  
Edgar Alonso Martinez-Garcia ◽  
José A. Aguilera
Keyword(s):  
Numerical Simulations ◽  
Mechanical Design ◽  
Dynamic Control ◽  
Dynamic Modelling ◽  
Control Law ◽  
Proposed Model ◽  
Tripod Gait ◽  
Walking Mechanism ◽  
The Right ◽  
And Control

This chapter presents the mechanical design, dynamic model, and walking control law of an insect-like, asymmetric hexapod robot. The proposed model is an original walking mechanism designed with three actuators to provide quasi-omnidirectionality. One of the motivational aims is to reduce the number of actuators preserving similar holonomy as compared to popular 18-servo redundant hexapods with three servos per leg. This work includes the Klann mechanism as limb, two-drive differential robot's control, one per lateral triplet of legs. The legs of a triplet are synchronized in speed with different rotary angles phase. In addition, the six limbs are synchronized with bidirectional yaw motion. The proposed mechanical design has one servo for limbs yawing, one for the right limbs triplet and one motor for the left triplet. Thus, quasi-omnidirectional mobility is achieved. Furthermore, a dynamic control law that governs the robot's mechanisms motion is deduced, with an Euler-Lagrange approach. Kinematic and dynamic results are validated through numerical simulations using a tripod gait.

A Research on Impedance Control Based on ANN Inverse System for Robot Manipulator

2014 ◽  
Vol 687-691 ◽  
pp. 560-563 ◽  
Author(s):  
Zhen Yang ◽  
Wei Zhang ◽  
Shang Lin Yang ◽  
Fang Wang
Keyword(s):  
Mathematical Model ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Dynamic Control ◽  
Difficult Problem ◽  
Inverse System ◽  
Outer Loop ◽  
And Control

Because of lacking the imprecise mathematical model is a difficult problem in the area of dynamic control for robot manipulator. In this paper, a novel scheme which can realize the decoupling for robot by ANN inverse system in the inner loop and control the position and force in the outer loop is presented. The method is studied in the environment of Matlab and is realized by a manipulator in Lab. Analyzed from the experiment result, this algorithm is very feasible and it provides a basis for the further research.

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