Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

Fayazi, Ali; Pariz, Naser; Karimpour, Ali; Feliu-Batlle, Vicente; HosseinNia, S. Hassan

doi:10.1017/s026357471900167x

Cited by 5 publications

(3 citation statements)

References 41 publications

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“…As a result, the literature indicates a substantial upgrade of unanchored robotic arms from single to n -link systems. Fayazi et al [37] presented a single-link flexible arm that has the potential to aid the analysis of impact-induced structural vibrations for structural analysis and dynamic modeling. A fabricated planar 2-link vertical robotic arm apparatus was used by Wilson et al [38] in 2016 for the successful experimental testing of the controllers and trajectory tracking for the benefit of the manufacturing industry.…”

Section: Literature Reviewmentioning

confidence: 99%

Linear manipulator: Motion control of an n-link robotic arm mounted on a mobile slider

Kumar

Chand

et al. 2023

Heliyon

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Section: Literature Reviewmentioning

confidence: 99%

Linear manipulator: Motion control of an n-link robotic arm mounted on a mobile slider

Kumar

Chand

et al. 2023

Heliyon

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“…Finally, we should mention a recently conceived of algorithm that uses a nonlinear dynamic estimator to determine the contact position in a massless link with a payload at the tip [ 26 ]. This algorithm is simple, but has the drawbacks that its convergence (stability) has not been proven and that only simulated results have been provided.…”

Section: Related Workmentioning

confidence: 99%

Improving the Detection of the Contact Point in Active Sensing Antennae by Processing Combined Static and Dynamic Information

Mérida-Calvo

Feliu-Talegón

Feliu-Batlle

2021

Sensors

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The design and application of sensing antenna devices that mimic insect antennae or mammal whiskers is an active field of research. However, these devices still require new developments if they are to become efficient and reliable components of robotic systems. We, therefore, develop and build a prototype composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that measures the forces and torques at the base of the flexible beam. This work reports new results in the area of the signal processing of these devices. These results will make it possible to estimate the point at which the flexible antenna comes into contact with an object (or obstacle) more accurately than has occurred with previous algorithms. Previous research reported that the estimation of the fundamental natural frequency of vibration of the antenna using dynamic information is not sufficient as regards determining the contact point and that the estimation of the contact point using static information provided by the forces and torques measured by the load cell sensor is not very accurate. We consequently propose an algorithm based on the fusion of the information provided by the two aforementioned strategies that enhances the separate benefits of each one. We demonstrate that the adequate combination of these two pieces of information yields an accurate estimation of the contacted point of the antenna link. This will enhance the precision of the estimation of points on the surface of the object that is being recognized by the antenna. Thorough experimentation is carried out in order to show the features of the proposed algorithm and establish its range of application.

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“…There are several research works in the field of dynamic modeling of flexible multibody systems (Bauchau, 2011; Benosman and Le Vey, 2004; Boscariol et al, 2017; Shabana, 1997). Modeling, control and some of the most important applications of the flexible manipulators have also been reviewed in Benosman and Vey (2004), Dwivedy and Eberhard (2006), Lochan et al (2016), Castillo-Berrio et al (2017), Kiang et al (2015), Fayazi et al (2019), Khorrami et al (1992), Korayem et al (2012), Nagaraj et al (1997), Korayem and Shafei (2015), Ettefagh et al (2018) and Khodaei et al (2018). Over the past decades, flexible robots have attracted much attention from both engineers and researchers because of their advantages over rigid robots (Castillo-Berrio et al, 2017; Dwivedy and Eberhard, 2006; Kiang et al, 2015; Lochan et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Precise tip-positioning control of a single-link flexible arm using a fractional-order sliding mode controller

Nejad

Fayazi

Zadeh

et al. 2020

Journal of Vibration and Control

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This article presents an efficient scheme based on fractional order sliding mode control approach for precision tip position control of a single link flexible robot arm. The proposed control strategy is robust against the system parameters variations such as payload and viscous friction variations in the presence of the sinusoidal disturbance and the unknown Coulomb friction disturbances. The aim of controller design is reduction of the deviation caused by the link flexibility and then the precision tip positioning control of the single-link flexible arm. In this regard, sliding mode control strategy is performed in two stages. In the first stage, the difference between the motor angle (load angle) and the tip angle of the flexible link is reduced by applying the proposed fractional order sliding mode controller and then, in the second step, the precision tracking of the tip position of the link is done by adding another sliding mode control scheme. The feasibility and effectiveness of the proposed control scheme is demonstrated via numerical simulation results.

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Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

Cited by 5 publications

References 41 publications

Linear manipulator: Motion control of an n-link robotic arm mounted on a mobile slider

Linear manipulator: Motion control of an n-link robotic arm mounted on a mobile slider

Improving the Detection of the Contact Point in Active Sensing Antennae by Processing Combined Static and Dynamic Information

Precise tip-positioning control of a single-link flexible arm using a fractional-order sliding mode controller

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