Dynamic Modelling and Characterisation of a Two-Link Flexible Robot Manipulator

Khairudin, Moh.; Mohamed, Zulkifli; Husain, Abdul Rashid; Ahmad, Mohd Ashraf

doi:10.1260/0263-0923.29.3.207

Cited by 39 publications

(23 citation statements)

References 13 publications

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“…where ε i is the strain of the ith actuator. Substituting equations (15) and (16) into equation (17), the moments acting on the nodes p1 and p2 can be obtained. By defining an anticlockwise direction as positive, one obtains…”

Section: Model Of Piezoelectric Actuators Two Piezoelectric Actuatormentioning

confidence: 99%

“…Abe [13] proposed a method for prediction of a trajectory of twolink rigid-flexible manipulators to suppress residual vibration, also employing a consideration of the Lagrangian approach and AMM. e order of the assumed mode models is low, and it is easy to apply them to the multilink manipulators [14,15]; the AMM is also suitable for structures with available mode shapes. However, it is difficult to assess the real dynamic characteristics of a structure with complex geometry or constraints using the AMM.…”

Section: Introductionmentioning

confidence: 99%

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Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control

Shao

Huang

Silberschmidt

2020

Shock and Vibration

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is paper presents a finite-element (FE) model of a manipulator with a flexible link and flexible joint as well as embedded PZT actuators and proposes a corrected rebuilt reduced model (CRRM) to make its dynamic characteristics more consistent with reality and facilitate control design. e CRRM considers the holding torque of the manipulator driving motor and eliminates the response divergence induced by a fault of the mass matrix of the FE model. In order to reduce the dimensions and maintain the precision of the model, an iterated improved reduction system (IIRS) method is adopted. Additionally, a LQR controller is designed based on the output function of the improved model. e simulation results demonstrate that the CRRM is consistent with reality and the active controller has good performance in suppressing vibration of the manipulator with both the flexible link and the flexible joint.

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Section: Model Of Piezoelectric Actuators Two Piezoelectric Actuatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control

Shao

Huang

Silberschmidt

2020

Shock and Vibration

View full text Add to dashboard Cite

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“…Moreover, Khairudin et.al. [4] presents the effects of varying payload on the dynamic characteristics of the system. The dynamic model have been carried out in the time and frequency domains where the system responses including angular positions, modal displacements and end-point acceleration are studied.…”

Section: Introductionmentioning

confidence: 99%

Development of the Automatic Control System Based On Human Machine Interface

Khairudin¹,

Surwi²

2017

Proceedings of the International Conference on Technology and Vocational Teachers (ICTVT 2017)

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Abstract-The development of the industrial automation technology has led to the control system based on human machine interface (HMI) that allows the monitoring system by the user.Automatic control based on HMI emphasizes monitoring techniques in real time for the plant's performance through the monitor screen or LCD. This paper presents the design of automatic control system based on HMI to increase the user convenience while controlling the plant. This study finds a solution about the automatic control system based on HMI for monitoring a plant's performance remotely using the LCD screen, so it can help and facilitate the user, particularly by the features: (1) enable to monitor a plant condition through visualization of the real time status, (2) controlling the values of plant's parameter remotely. This study uses a research and development method, which each stage of the sub-systems will be assisted for improving the overall system's performance so can obtain in accordance with the desired system. The results show that the developed system can perform to select objects based on the object's color, those are red, white and silver. Also it can distinguish the workpiece of metal and non-metal. All processes of the object selection can be monitored through the monitor's screen.

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“…Fulkuda and Arwakawa [2] have defined boundary conditions from which an analytical model was formulated to describe vibration in the linkages of a two degree of freedom flexible robotic manipulator. An assumed modes approach to modelling a two flexible link manipulator is presented by Khairudin et al [12]. The use of assumed modes approach is discussed by Theodore and Ghosal [21], who compares modelling flexible linkages using assumed modes methods with an FE approach.…”

Section: Introductionmentioning

confidence: 99%

Model Predictive Control of Vibration in a Two Flexible Link Manipulator — Part 2

Elliott

Dubay

Mohany

et al. 2014

Journal of Low Frequency Noise, Vibration and Active Control

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A finite element based model predictive controller (FEMPC) is developed and practically implemented for attenuating in-plane vibration of a two flexible link planar manipulator. This FEMPC structure is based on that used in dynamic matrix control (DMC), with the exception that a finite element (FE) model replaces how the predictions are formulated. A linear FE model is developed for each individual link, which is used with the current measured strain and control actions, to predict the response of each link. These predictions are carried out at each time step to address the geometric non-linearities associated with the orientation of the second link and those associated with friction, backlash and compliance of the geared motors. Furthermore, the use of FE modelling enables the control structure to be formulated based on known properties of the system, eliminating the need for open loop testing. The resulting FEMPC scheme is shown to outperform DMC and is capable of providing substantial attenuation of vibration, reducing the mean amplitude of dominant vibration by 92.5% and 15.6%, for the first and second links, respectively. INTRODUCTIONWith lighter linkages and smaller spatial profiles, flexible link manipulators have advantages over their rigid link counterpart, when the payload being moved is relatively lightweight. These advantages include faster accelerations and more efficient operations since less energy is expended to move these lighter flexible linkages. However, the fundamental drawback of these manipulators is their susceptibility to deflection during motion, which leads to inaccurate positioning of the end effector due to the resulting vibration of the linkages. To address this issue active vibration control has been shown to be a potential solution, where actuators, such as piezoelectric plates, are used to counteract the vibration of these linkages, resulting in a more accurate positioning of the end effector.In part 1 of this work model predictive control (MPC) in the form of dynamic matrix control (DMC) was presented as viable control scheme for attenuating vibration of a planar two flexible link manipulator. While shown to work well with short prediction horizons, the selection of short prediction horizons in MPC tends to result in a less stable control as the scheme becomes more sensitive to noise. However, by increasing the prediction horizon the effectiveness of the controller to attenuate vibration is observed to decline. Since DMC control is ideally intended for first order systems, this behavior is viewed as a result of inadequate representation of the dynamics of the linkages when using the dynamic matrix to predict the response of the links. As such, this part shall incorporate an alternative means of modelling the vibration of the linkages into the DMC scheme, this alternative being finite element (FE).

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Dynamic Modelling and Characterisation of a Two-Link Flexible Robot Manipulator

Cited by 39 publications

References 13 publications

Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control

Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control

Development of the Automatic Control System Based On Human Machine Interface

Model Predictive Control of Vibration in a Two Flexible Link Manipulator — Part 2

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