Analytical and experimental investigation of the dynamic behavior of a revolute-prismatic manipulator with N flexible links and hubs

Korayem, M. H.; Dehkordi, S. F.; Mojarradi, Morteza; Monfared, Pedram

doi:10.1007/s00170-019-03421-x

Cited by 21 publications

(7 citation statements)

References 32 publications

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“…In the following, these terms are separated and the result is classified into two parts: second derivative function of the generalized coordinates and others. Then, the derivative of the concluded temrs with regards to the generalized pseudo-accelerations are obtained, so that they can be substituted in the inertia matrix's elements as in The elements of the system's inertia matrix 𝐈(𝚯, 𝚯 ̇) can be found according to Ref [15].…”

Section: 𝐈(𝚯 𝚯 ̇)𝚯 ̈= 𝐑𝐞(𝚯 𝚯 ̇) + 𝚪mentioning

confidence: 99%

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Motion Equations Derivation of Flexible-Link Manipulators with Time- Dependent Link’s Length operated in Fluid Medium

Dehkordi

2022

Preprint

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This article focuses on the derivation of the motion equations of flexible-links manipulator composed time-dependent link length in the fluid medium, necessitating the inspection of fluid-arms interaction during two simultaneous rigid and elastic motions. The system’s rigid motion consisting of rotational and reciprocating movements of links and the link’s oscillating motion due to their elasticity are both considered. These oscillations, which are posited to be small, are not exclusively a function of the excitations caused by the robot's motors, and the interaction between the manipulator’s links and the fluid medium also affects the links' deformation. Accordingly, the system oscillation, which is a function of the link length stemming from the changes in the rigid modes, becomes dependent on the mechanical features of the surrounding fluid and applied force/moment to the joints based on the fluid-robot interaction type. This interaction can impact the system's elastic and rigid modes. Although the equations are comparable to those developed in previous research that considered a time-varying structure, they include the effects of both the input to joints' motors and the mechanical characteristics of surrounding environment, leading to complex and non-conservative equations. With the aid of recursive Gibbs-Appell formulation, the dynamic equations of the system are calculated based on the defined algorithm and external forces. These equations are evaluated by changing the surrounding fluid's mechanical properties and the links' elasticity and examining the effect of system weight change in MATLAB. The results show that the effects of fluid-manipulator interactions on the links' deformation is greater than the effect of changing link elasticity. Thus, the deformation increases by 100% when the medium’s density changes from 0 to 100 kg/m.

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Section: 𝐈(𝚯 𝚯 ̇)𝚯 ̈= 𝐑𝐞(𝚯 𝚯 ̇) + 𝚪mentioning

confidence: 99%

“…This broad and rapid reach has already been studied using robotic arms with Revolute-Prismatic joints (R-P joints). The concurrent usage of these type of joints and flexible links results in complex time-varying dynamic equations [15,16]. Even so, these equations are not applicable when the environment conditions change.…”

Section: Introductionmentioning

confidence: 99%

Motion Equations Derivation of Flexible-Link Manipulators with Time- Dependent Link’s Length operated in Fluid Medium

Dehkordi

2022

Preprint

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“…Yu [13] analyzed a flexible-link space robot considering the influence of base flexibility on system modeling and control, but the experimental implementation process of the flexiblelink is not presented. Designing actual flexible arms is very important in fast and high-precision control situations and has received a lot of attention from scholars [14,15]. Aghajari et al [16] proposed a kind of flexible-link that can achieve fast movements and precise positioning and has a wide range of applications in the field of space exploration.…”

Section: Introductionmentioning

confidence: 99%

Integrated sliding mode control with input restriction, output feedback and repetitive learning for space robot with flexible-base, flexible-link and flexible-joint

Chen

2022

Robotica

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In the control of space robots, flexible vibrations exist in the base, links and joints. When building a motion control scheme, the following three aspects should be considered: (1) the complexity in dynamic modeling; (2) the low accuracy of motion control and (3) the simultaneous suppression of multiple flexible vibrations. In this paper, we propose a motion vibration integrated saturation control scheme. First, the dynamic model of space robot with flexible-base, flexible-link and flexible-joint is established according to the assumed modes method and Lagrange equation. Second, singular perturbation theory is used to decompose the model into two subsystems: a slow subsystem containing the rigid motions of base and joints as well as the vibration of links, and a fast subsystem containing vibrations of base and joints. Third, an integrated sliding mode control with input restriction, output feedback and repetitive learning (ISMC-IOR) is designed, which can track the desired trajectories of base and joints with −3 orders of magnitude accuracy, while suppressing the multiple flexible vibrations of base, links and joints 50%–80% and 37% performance improvement over ISMC-IOR-NV were achieved. Finally, the algorithm is verified by simulations.

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“…Therefore, different approaches such as Newton-Euler, Euler-Lagrange and its recursive, Gipps-Apple, and so forth were used to solve the kinematic and dynamic equations of the system. [3][4][5] In recent experimental studies on widely used mechanical arms in industry have shown that if the flexibility of their joints is considered, theoretical modeling results would be more realistic. Due to the importance of regarding flexibility to achieve satisfactory performance for robot manipulators, in this paper, joint flexibility is considered and the links are assumed rigid.…”

Section: Introductionmentioning

confidence: 99%

“…Contrary to the advantages of flexibility in system operation and its widespread use in light equipment, it has always been challenging to formulate and control the systems due to their complexity. Therefore, different approaches such as Newton–Euler, Euler–Lagrange and its recursive, Gipps‐Apple, and so forth were used to solve the kinematic and dynamic equations of the system 3–5 . In recent experimental studies on widely used mechanical arms in industry have shown that if the flexibility of their joints is considered, theoretical modeling results would be more realistic.…”

Section: Introductionmentioning

confidence: 99%

Integrated nonlinear suboptimal control‐and‐estimator based on the state‐dependent differential Riccati equation approach

Korayem

Lademakhi

2022

Optim Control Appl Methods

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This paper is devoted to the theory and application of a combined nonlinear suboptimal control and estimator based on the state‐dependent differential Riccati equation (SDDRE), aiming finite‐time tracking of manipulators that possess flexible joints. Though measuring the angular positions of links is possible for flexible joint manipulators (FJMs), it is not feasible to measure the changes in the position angles of actuators. In addition, the existence of measurement noise and the influence of unknown workspace disturbance are always unavoidable. Therefore, combining an estimator with a controller could result in full‐state feedback for the system. Designing the proposed integrated estimator algorithm includes two parts: The first part is the theoretical extension of the SDDRE approach expressed with nonlinear state variables and inputs of the system in a finite‐time horizon. In the second part, enhancing and upgrading software and hardware interface, the proposed procedure for FJMs is modeled and simulated. Then, the experimental implementation is applied in the online closed‐loop form.

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Analytical and experimental investigation of the dynamic behavior of a revolute-prismatic manipulator with N flexible links and hubs

Cited by 21 publications

References 32 publications

Motion Equations Derivation of Flexible-Link Manipulators with Time- Dependent Link’s Length operated in Fluid Medium

Motion Equations Derivation of Flexible-Link Manipulators with Time- Dependent Link’s Length operated in Fluid Medium

Integrated sliding mode control with input restriction, output feedback and repetitive learning for space robot with flexible-base, flexible-link and flexible-joint

Integrated nonlinear suboptimal control‐and‐estimator based on the state‐dependent differential Riccati equation approach

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