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

Mishra, Natraj; Singh, Shveta

doi:10.17485/ijst/v14i43.1418-i

Cited by 4 publications

(4 citation statements)

References 142 publications

(218 reference statements)

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“…The aforementioned survey papers, together with similar ones [32], [33], outlined the historical developments of FRMs, which are summarized in Table I. Notably, there also exist survey papers about modeling and/or control of a flexible multibody system [34], [35], [36], [37], which are related to the theme of this work but not discussed in details.…”

Section: Related Workmentioning

confidence: 99%

Advances in Flexible Robotic Manipulator Systems—Part I: Overview and Dynamics Modeling Methods

Li,

Gao

et al. 2024

IEEE/ASME Trans. Mechatron.

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Flexible robotic manipulators (FRMs) exhibit advantages over traditional rigid-body manipulators, including lower energy consumption, faster response, enhanced safety, reduced spatial footprint, and greater operational flexibility. This article reviews the advancements in the modeling, planning, and control technologies of FRMs, along with their applications and perspectives. Compared with previous survey papers about FRMs, this work has the following highlights. First, modeling methods w.r.t. joint flexibility, link flexibility, and link-joint coupling effects are systematically reviewed; second, FRM motion planning methods are reviewed solely instead of being treated as part of FRM control methods; third, this survey presents the recent advancements in FRMs that incorporate artificial intelligence (AI), acknowledging AI as a prevalent research trend; and finally, this is the only survey to systematically explore the rapidly evolving applications of FRM systems over the past five years. Our work is divided into two independent articles. This article, which is the first one, includes the basic background of FRMs, an overview of previous FRM-related surveys, and dynamic modeling methods for FRMs. The second article will review the prevalent motion planning and control methods for an FRM, together with FRM applications and perspectives.

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Section: Related Workmentioning

confidence: 99%

Advances in Flexible Robotic Manipulator Systems—Part I: Overview and Dynamics Modeling Methods

Li,

Gao

et al. 2024

IEEE/ASME Trans. Mechatron.

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“…As mentioned in Section 3, the Newton-Euler equations and Lagrange-assumed modes methods are most widely used for obtaining the mathematical model of robotic manipulators [103][104][105]. The Newton-Euler equations are based on Newton's second law of motion, while the Lagrange method derives the motion equations by eliminating interaction forces between adjacent links.…”

Section: Modelling Of Robotic Manipulatorsmentioning

confidence: 99%

“…The mathematical relationship between torques and positions of a robotic manipulator with N number of rigid and n number of elastic degrees of freedom using Euler-Lagrangian formulation is given as [104],…”

Section: Generalized Model Of Serial Link Planar Rigid Robotic Manipu...mentioning

confidence: 99%

A Review on Fractional-Order Modelling and Control of Robotic Manipulators

2023

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Robot manipulators are widely used in many fields and play a vital role in the assembly, maintenance, and servicing of future complex in-orbit infrastructures. They are also helpful in areas where it is undesirable for humans to go, for instance, during undersea exploration, in radioactive surroundings, and other hazardous places. Robotic manipulators are highly coupled and non-linear multivariable mechanical systems designed to perform one of these specific tasks. Further, the time-varying constraints and uncertainties of robotic manipulators will adversely affect the characteristics and response of these systems. Therefore, these systems require effective modelling and robust controllers to handle such complexities, which is challenging for control engineers. To solve this problem, many researchers have used the fractional-order concept in the modelling and control of robotic manipulators; yet it remains a challenge. This review paper presents comprehensive and significant research on state-of-the-art fractional-order modelling and control strategies for robotic manipulators. It also aims to provide a control engineering community for better understanding and up-to-date knowledge of fractional-order modelling, control trends, and future directions. The main table summarises around 95 works closely related to the mentioned issue. Key areas focused on include modelling, fractional-order modelling type, model order, fractional-order control, controller parameters, comparison controllers, tuning techniques, objective function, fractional-order definitions and approximation techniques, simulation tools and validation type. Trends for existing research have been broadly studied and depicted graphically. Further, future perspective and research gaps have also been discussed comprehensively.

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“…In Part 1 (1) of the review on flexible manipulators, the issues related to dynamic modelling and control were discussed. In the present work (Part 2 of the review work), vibration suppression techniques using passive and active vibration control means are discussed.…”

Section: Introductionmentioning

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

Cited by 4 publications

References 142 publications

Advances in Flexible Robotic Manipulator Systems—Part I: Overview and Dynamics Modeling Methods

Advances in Flexible Robotic Manipulator Systems—Part I: Overview and Dynamics Modeling Methods

A Review on Fractional-Order Modelling and Control of Robotic Manipulators

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

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