Dynamic modelling, simulation and control of a manipulator with flexible links and joints

Subudhi, Bidyadhar; Morris, Alan S.

doi:10.1016/s0921-8890(02)00295-6

Cited by 199 publications

(94 citation statements)

References 7 publications

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“…Moreover, the elastic vibration that occurs in the links becomes a serious issue for the control. Therefore, much effort has been made to model and describe robot dynamics with elastic links and to control them (Cetinkunt & Yu, 1991;Tzes & Yurkovich, 1991;Hui et al, 2002;Subudhi & Morris, 2002;Theodore & Ghosal, 2003;Wang & Mills, 2005;Feliu et al, 2006). In contrast, we decided to develop a solution scheme of kinematics using the finite element approach combined with the parallel solution scheme to handle analysed models comprehensively in a single calculation process (Isobe & Kato, 2008).…”

Section: Rigid Body and Flexible Modelsmentioning

confidence: 99%

A Torque Cancelling System for Quick-Motion Robots

Isobe¹

2011

Intelligent Mechatronics

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Section: Rigid Body and Flexible Modelsmentioning

confidence: 99%

A Torque Cancelling System for Quick-Motion Robots

Isobe¹

2011

Intelligent Mechatronics

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“…The AMM with two modal displacements is considered in characterising the dynamic behaviour of the manipulator incorporating structural damping and hub inertia. Further detailed of the description and derivation of the dynamic model of the system can be found in (Subudhi et al, 2002). The dynamic model is validated with an actual experimental rig to study the performance of the model in (Martin et al, 2003).…”

Section: Modelling Of the Flexible Manipulatormentioning

confidence: 99%

Vibration Suppression Techniques in Feedback Control Loop of a Flexible Robot Manipulator

Ahmad¹,

Mohamed²

2008

MAS

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This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS), Linear Quadratic Regulator (LQR) and Proportional-Derivative (PD) controller are the techniques used in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of the controller are examined in terms of vibration suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

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“…But along with our further research on robotic arm, the vibration and noise of robotic arm have attracted people's attention. All kinds of industrial robotic arms are almost in the environment of vibration, which may cause resonance, fatigue and even the damage of robotic arm's structure, therefore, if we comprehend the characteristics of stiffness of robotic arm, we will avoid losses caused by resonance in its using [6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Modal and harmonic response analysis of key components of robotic arm based on ANSYS

Tang¹,

Yu²,

Zhang³

2017

Vib. proced.

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Abstract.To study the problem of vibration of harmonic response of robotic arm under the load, a three-dimensional model of the frame of the robotic arm was created in the Solidworks, then the model was imported into ANSYS for modal analysis. We obtained the frequency of natural vibration and the effect of response of the key components of robotic arm by above analysis. The natural frequency of the robotic arm can be kept away from the frequency of vibration of machine completely, and thus poor working conditions caused by resonance can be avoided. Next the analysis of harmonic response was also performed on the basis of modal analysis. According to the above analysis we obtained displacement diagram and stress distribution diagram of harmonic response. The analysis has a referenced value to design and improve the structure of robotic arm.

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Dynamic modelling, simulation and control of a manipulator with flexible links and joints

Cited by 199 publications

References 7 publications

A Torque Cancelling System for Quick-Motion Robots

A Torque Cancelling System for Quick-Motion Robots

Vibration Suppression Techniques in Feedback Control Loop of a Flexible Robot Manipulator

Modal and harmonic response analysis of key components of robotic arm based on ANSYS

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