Dynamic Analysis and Control of Industrial Robotic Manipulators

2018 ◽  
Vol 883 ◽  
pp. 30-36 ◽  
Author(s):  
Yunn Lin Hwang ◽  
Jung Kuang Cheng ◽  
Van Thuan Truong
Keyword(s):  
Control System ◽  
Robotic Manipulators ◽  
Euler Method ◽  
End Effector ◽  
Feed Forward Control ◽  
Efficient Simulation ◽  
Body Dynamics ◽  
Multi Body ◽  
And Control ◽  
Manipulator Robot

Robot simulation has developed quickly in recent decades. Along with the development of computer science, a lot of simulation soft-wares have been created to perform many purposes such as studying kinematic, dynamic, and off-line program to avoid obstacle on manipulator robots. The main objective of this study is therefore to analyze kinematic, dynamic characteristics of an R-R robotic manipulator in order to control this robot. Newton-Euler method was used to calculate the torque acting on each joint of the robot. Then, a numerical model of the robot was established by a multi-body dynamics software to compare with the results obtained by Newton-Euler theory. After that, a feed-forward control system was created by RecurDyn/CoLink to control the end-effector of the robot following a desired trajectory. The results showed that this research can be used for efficient simulation of structural kinematics, dynamics as well as control of the real manipulator robot with the robot structure in a virtual environment.

A Synchronous Approach for Numerical Simulation of Machine Tools

2015 ◽  
Vol 642 ◽  
pp. 317-322
Author(s):  
Yunn Lin Hwang ◽  
Van Thuan Truong
Keyword(s):  
Numerical Simulation ◽  
Machine Tools ◽  
Flexible Structure ◽  
Dynamical Parameter ◽  
Resonance Frequencies ◽  
Body Dynamics ◽  
Computer Aided ◽  
Bode Diagram ◽  
Multi Body ◽  
And Control

In this paper, a synchronous approach for dynamic simulation of machine tools is described. Computer Aided Engineering (CAE) method models and analyzes a dynamical parameter prototype of machine tools. In which, the flexible structure, interactive movement, non-linear factor effects as well as characteristics of resonance frequencies and mechanical transfer function are considered. The integrating Finite Element Method (FEM), Multi-Body Dynamics (MBD) and control carries out a solution of machine tools simulation for predicting dynamic machine behaviors. The static analysis and modal analysis of components are presented with sample examples. Cybernetic characteristics like Bode diagram and such a controller are implemented for movement tailors. The synchronous approach deduces a practically technical method for machines tools.

Vibration Control for Parallel Manipulator Based on the Feed Forward Control Strategy

2013 ◽  
Author(s):  
Ming Li ◽  
Huapeng Wu ◽  
Heikki Handroos ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Control Strategy ◽  
Parallel Manipulator ◽  
External Disturbance ◽  
Machining Process ◽  
End Effector ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Model Based

Due to the high stiffness, high dynamic performance, the parallel manipulator presents great advantages in the industrial manufacture. However in the machining process, the external low frequency disturbance, e.g. the varying cutting force, has a significant effect on the control system of parallel manipulator, which presents a chatter phenomenon on the end-effector of manipulator. In this paper, a feed forward control strategy is proposed to eliminate the effect of the random external disturbance on the control system of parallel manipulator. By applying the external disturbance force on the inverse dynamic model, the compensation torque is calculated and fed forward into the manipulator driving joints to cancel out the effect of the disturbance acting on the manipulator end-effector. The key issue herein is to be able to establish the accurate dynamic model for the parallel manipulator. Furthermore, in order to guarantee the position precision of the manipulator, a feed forward model-based control strategy combined with the feedback loop PV (position and velocity) control has been developed based on the reference trajectory, which could relatively simplify the highly nonlinear control system of the parallel manipulator and obtain a stable tracking error model. The whole research has been carried out on a parallel manipulator named CaPaMan which has been built in the laboratory of robotics and mechatronics in university of Cassino and South Latium. The results show that the chatter phenomenon could be utterly depressed by the force compensation from the feed forward path of the external disturbance; meanwhile the model-based controller can guarantee the trajectory tracking accuracy within a stable error by choosing the suitable PV gains.

Dynamic and Control Strategy of Payload Motion for Deployment System

2012 ◽  
Vol 229-231 ◽  
pp. 2361-2364 ◽  
Author(s):  
Zi Fan Fang ◽  
Bing Fei Xiang ◽  
Qing Song He ◽  
De Xin Wu ◽  
Hua Pan Xiao
Keyword(s):  
Finite Element Method ◽  
Dynamic Model ◽  
Control Strategy ◽  
Wire Rope ◽  
Tension Control ◽  
Analysis Software ◽  
Collaborative Simulation ◽  
Body Dynamics ◽  
Multi Body ◽  
And Control

The dynamic model of wire rope with contact is presented based on finite element method and the flexible multi-body dynamics theory by putting the contact force between the wire rope and drum. The unilateral anti-sway and tension control strategy is put forward, and the dynamic model and collaborative simulation of payload motion for deployment system is modeled by dynamic analysis software RecurDyn and control library Colink. The correctness of the collaborative simulation model and control strategy is validated by analysis and comparison , which lays the foundation for further research on dynamic simulation of virtual prototype in nonlinear and complex mechanical-control system.

Dynamic Analysis and Control Research of a 3-DOF Hydraulic Driven Parallel Mechanism

2020 ◽  
Vol 13 (2) ◽  
pp. 156-170
Author(s):  
Bing Zhang ◽  
Saike Jiang ◽  
Ziliang Jiang ◽  
Jiandong Li ◽  
Kehong Zhou ◽  
...  
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Control Strategy ◽  
Parallel Mechanism ◽  
Control Method ◽  
Simulation Method ◽  
Euler Method ◽  
Parallel Mechanisms ◽  
Rigid Body Dynamic ◽  
And Control

Background: The parallel mechanism is widely used in motion simulators, parallel machine tools, medical equipment and other fields. It has advantages of high rigidity, stable structure and high carrying capacity. However, the control strategy and control method are difficult to study because of the complexity of the parallel mechanism system. Objective: The purpose of this paper was to verify the dynamic model of a hydraulic driven 3-DOF parallel mechanism and propose a compound control strategy to broaden the bandwidth of the control system. Methods: The single rigid body dynamic model of the parallel mechanism was established by the Newton Euler method. The feed forward control strategy based on joint space control with inverse kinematic was designed to improve the bandwidth and control precision. The co-simulation method based on MATLAB / SIMULINK and ADAMS was adopted to verify the dynamics and control strategy. Results: The bandwidth of each degree of freedom in the 3-DOF parallel mechanism was used to expand about 10Hz and the amplitude error was controlled below 5%. Conclusion: Based on the designed dynamic model and composite control strategy, the controlled accuracy of the parallel mechanism is improved and the bandwidth of the control system is broadened. Furthermore, the improvements can be made in aspects of control accuracy and real-time performance to compose more patents on parallel mechanisms.

Configuration Design of Modular 3-PRS Parallel Robot and Dynamic Simulation Analysis

2011 ◽  
Vol 130-134 ◽  
pp. 347-352
Author(s):  
Jing Tao Lei
Keyword(s):  
Control System ◽  
Screw Theory ◽  
Simulation Analysis ◽  
Integrated Design ◽  
Parallel Robot ◽  
Configuration Design ◽  
Prototype System ◽  
Three Dimension ◽  
End Effector ◽  
And Control

This paper presented model-based integrated design technology for configuration design of modular 3-PRS parallel robot. The kinematics screws matrix and constraint screws matrix of the end effector were obtained based on screw theory, the constraints of the end effector were analyzed and the degree of freedom of the robot can be determined. The forward kinematics of the parallel robot was analyzed according to the geometric relationship of a kinematics chain. Three-dimension solid model of the parallel robot was designed. Afterwards, the co-simulation of the mechanical and control system of the parallel robot was studied by applying virtual prototype technology to optimize the parameters of mechanical structure and control system. The simulation results of kinematics and dynamics can be obtained, which will offer basis for developing the prototype system.

Failure Analysis of Planetary Gear Shaft of Power Split Device Based on Multi-Body Dynamics

2013 ◽  
Vol 433-435 ◽  
pp. 17-20 ◽  
Author(s):  
Yan Liu ◽  
Jing Fang Ji ◽  
Long Kong ◽  
Yan Li ◽  
Ji Xin Wang
Keyword(s):  
Hybrid Electric Vehicle ◽  
Coupled Model ◽  
Planetary Gear ◽  
Threshold Function ◽  
Power Performance ◽  
Body Dynamics ◽  
Power Split ◽  
The Moment ◽  
Multi Body ◽  
And Control

Power split device (PSD) affects the power performance and control strategy of hybrid electric vehicle (HEV). In this paper, a new threshold function for wavelet denoising is used to reduce noise in test torque and rotational speed data. The dynamic simulation is carried out at the moment of planetary gear shaft (PGS) failure, after the rigid-flexible coupled model of PSD is established. According to the obtained stress of PGS, analysis of PGS fracture is verified.

Elastodynamic Analysis and Control of Industrial Robotic Manipulators With Piezoelectric-Material-Based Elastic Members

1995 ◽  
Vol 117 (4) ◽  
pp. 640-643 ◽  
Author(s):  
Seung-Bok Choi ◽  
B. S. Thompson ◽  
M. V. Gandhi
Keyword(s):  
Dynamic Modeling ◽  
Robotic Manipulators ◽  
Feedback Controller ◽  
Superior Performance ◽  
Element Formulation ◽  
Feedback Controllers ◽  
End Effector ◽  
Modeling And Control ◽  
And Control ◽  
Control Methodology

This technical brief addresses the dynamic modeling and control methodology to suppress structural deflections of industrial robotic manipulators featuring elastic members retrofitted with surface bonded piezoelectric actuators and sensors. The dynamic modeling is accomplished by developing a finite element formulation. The governing equation of motion is then modified by condensing the electric potential vectors, and subsequently two different feedback controllers are established: a constantgain feedback controller and a constant-amplitude feedback controller. Computer simulations are undertaken in order to demonstrate the superior performance characteristics, such as smaller deflections at the end-effector, to be accrued from the proposed methodology.

Simulation-Based Design of the Geometry and Control System for an Omnidirectional Ground Vehicle

2014 ◽  
Author(s):  
Li Guan ◽  
Andrew Niedert ◽  
Richard C. Hill
Keyword(s):  
Control System ◽  
Ground Vehicle ◽  
Simulation Based Design ◽  
Simulation Based ◽  
Tightly Coupled ◽  
Physical Geometry ◽  
New Construction ◽  
Multi Body ◽  
And Control ◽  
Body Dynamic

This paper describes the simulation-based design of a teleoperated, omnidirectional ground vehicle. The multi-body dynamic simulation employed is developed in the Simulink environment, specifically employing the Simscape extension of Simulink. The accuracy of the simulation is validated by comparison to data taken from one physical instantiation of the vehicle. The use of simulation allows controlled and rapid “testing” of various configurations of the vehicle without requiring any new construction and without endangering physical hardware. The simulation also provides estimates of quantities, like road force and inertial position, that are difficult to measure. The elements of the vehicle design that are specifically investigated in this paper are the vehicle’s physical geometry and its control system. The design of the vehicle’s control system is challenging because of nonlinearities and uncertainty in the model and because it is desired to control three tightly-coupled outputs (longitudinal, lateral, and angular velocity) via six different inputs (force generated at each of the vehicle’s six wheels).

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