A geometric optimization method for the trajectory planning of flexible manipulators

Lismonde, Arthur; Sonneville, Valentin; Brüls, Olivier

doi:10.1007/s11044-019-09695-z

Cited by 24 publications

(20 citation statements)

References 22 publications

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“…[2019] (120) In feedforward control, the adjustment of the controlled variable is not based on error. It is based upon the knowledge of the process being controlled gained through either the mathematical model or the measurements.…”

Section: Continued On Next Pagementioning

confidence: 99%

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

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Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are dynamic modelling and control of flexible link robots. A brief, yet, significant review is provided that addresses these issues. Methods: The various approaches used by researchers for dynamic modelling and control of flexible robots are presented. Besides that, methods used for achieving optimal control are also discussed. Findings: After a review of 153 research papers from the year 1975 to 2021, it has been found that a good dynamic model of flexible manipulator helps in reducing the control and computational efforts. Recent trends in research in the area of flexible manipulators are towards the use of sliding mode control and vision-based control techniques. Novelty: Inclusion of the effect of torsional vibrations besides lateral vibrations on the positional accuracy of flexible manipulators makes the current research work novel.

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Section: Continued On Next Pagementioning

confidence: 99%

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

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“…[2019] (128) tried to optimize the trajectory of flexible manipulators using the geometric optimization method and feedforward control action. They also tried to modify the real-time trajectory of such robots based on their research.…”

Section: Trajectory Control Of Flexible Manipulatorsmentioning

confidence: 99%

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

Mishra¹,

Singh²

2021

IJST

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Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are vibration control of flexible links and trajectory control of flexible robots. A brief, yet, significant review is provided that addresses these two issues. Methods: For vibration control of flexible links, possibilities of the use of passive and active damping methods are explored in the literature. After that, the effect of proper trajectory planning to ensure positional accuracy at the end-effector is studied. Findings: After a review of 181 research papers from the year 1970 to 2021, it has been found that the vibration suppression of flexible links can be achieved through the application of viscoelastic materials, piezoelectric materials, and optimum trajectory planning. Recent trends in research in the area of flexible manipulators show that an optimal trajectory can significantly help in reduction of link vibrations and achievement of positional accuracy simultaneously. Novelty: The novelty of the present work lies in exploring the possible application of passive and active damping control methods for vibration suppression of flexible link manipulators. Besides that, the survey also highlights how well planned trajectory may help achieve accurate tip positioning of flexible robots.

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“…A first comparison of the boundary value problem approach with the optimal control problem is performed in [2], where it is proven that the solution of the optimal control problem converges to the solution of the boundary value problem as pre-and postactuation time goes to infinity. The methodology is applied to several flexible multibody systems in [15].…”

Section: Introductionmentioning

confidence: 99%

Application of Stable Inversion to Flexible Manipulators Modeled by the ANCF

Drücker¹,

Seifried²

2022

Preprint

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Compared to conventional robots, flexible manipulators offer many advantages, such as faster end-effector velocities and less energy consumption. However, their flexible structure can lead to undesired oscillations. Therefore, the applied control strategy should account for these elasticities. A feedforward controller based on an inverse model of the system is an efficient way to improve the performance. However, unstable internal dynamics arise for many common flexible robots and stable inversion must be applied. In this contribution, an approximation of the original stable inversion approach is proposed. The approximation simplifies the problem setup, since the internal dynamics do not need to be derived explicitly for the definition of the boundary conditions. From a practical point of view, this makes the method applicable to more complex systems with many unactuated degrees of freedom. Flexible manipulators modeled by the absolute nodal coordinate formulation (ANCF) are considered as an application example.

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A geometric optimization method for the trajectory planning of flexible manipulators

Cited by 24 publications

References 22 publications

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

Application of Stable Inversion to Flexible Manipulators Modeled by the ANCF

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