Experimental Validation of Nonlinear Dynamic Models for Single-Link Very Flexible Arms

Payo, Ismael; Ramos, Francisco; Cortázar, O. D.; Feliú, V.

doi:10.1109/cdc.2005.1583005

Cited by 8 publications

(12 citation statements)

References 15 publications

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“…A special rig is described in detail in [23]. It consists The mass is attached to the rod tip by a bearing which allows free rotation, so that the mass acts as a point inertial load without rotational inertia effects, as shown in Fig.…”

Section: Experimental Non-linear Systemmentioning

confidence: 99%

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Wave-based control of non-linear flexible mechanical systems

O’Connor

Flor²,

McKeown

et al. 2008

Nonlinear Dyn

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The need to achieve rapid and accurate position control of a system end-point by an actuator working through a flexible system arises frequently, in cases from space structures to disk drive heads, from medical mechanisms to long-arm manipulators, from cranes to special robots. The system's actuator must then attempt to reconcile two, potentially conflicting, demands: position control and active vibration damping. Somehow each must be achieved while respecting the other's requirements. Wave-based control is a powerful solution with many advantages over previous techniques. The central idea is to consider the actuator motion as launching mechanical waves into the flexible system while simultaneously absorbing returning waves. This simple, intuitive idea leads to robust, generic, highly efficient, adaptable controllers, allowing rapid and almost vibrationless re-positioning of the remote load (tip mass). This gives a generic, high-performance solution to this important problem that does not depend on an accurate system model or near-ideal actuator behaviour. At first sight wavebased control assumes superposition and therefore linearity. This paper shows that wave-based control is also robust (or can easily be made robust) to nonlinear behaviour associated with non-linear elasticity and with large-deflection effects.

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Section: Experimental Non-linear Systemmentioning

confidence: 99%

“…But this implies strong geometric non-linearities when the deflections are significant. The system can be modelled [23] by the following equations of motion:…”

Section: Experimental Non-linear Systemmentioning

confidence: 99%

Wave-based control of non-linear flexible mechanical systems

O’Connor

Flor²,

McKeown

et al. 2008

Nonlinear Dyn

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“…Такое далеко не всегда возможно, и в этом случае создается масштабная модель ма-нипулятора, с помощью которой проводится тестирование алгоритмов и чис-ленное моделирование динамики. Можно отметить работу [30], где проводится верификация математической модели, заданной системой обыкновенных диф-ференциальных уравнений, гибкого манипулятора. В Университете Падуи [31] разработан макет для изучения влияния моментов сил реакции, возникающий при движении манипулятора (рис.…”

Section: рис 29 установка для моделирования манипулятора шаттлаunclassified

Test-Bench COSMOS for Microsatellite Control System Mock-Ups Modeling and Survey

2016

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“…By conventional we mean that small deflections hypothesis can be assumed, and, therefore, a linear model is appropriate. However, there is much less work done regarding robots whose links exhibit nonlinear behavior [5], [8], [14].…”

Section: Introductionmentioning

confidence: 98%

Non-linear behavior in wave-based control

Ramos

O’Connor

2007

2007 American Control Conference

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This work investigates how geometric non-linear behavior affects the wave-based control strategy, which appears to assume linearity in using superposition of waves. It is found that only non-linearities located at the actuator-system interface (where the wave measurements are made) affect the accuracy, and that, in any case, the resulting errors are small. Even with strong non-linearities in the rest of the flexible system, the wave based control still works perfectly provided the local behavior of the actuator-system interface is linear or close to linear (and the initial and final static deflections of the system are equal). If necessary therefore, one could add a linear, elastic component between it and the remainder of the flexible system to recover "perfect" control. A second option is simply to accept the initial, small error in the non-linear case and to correct it by a further motion of the system. The third solution investigated is to define the "waves" in a less-than-optimal way that is completely insensitive to even the interface non-linearities but which still provides very good motion and vibration control.The paper presents these ideas and illustrates them with numerical simulations and experiments on a single-link flexible robot, made of light carbon fibre, which exhibits pronounced geometrically non-linear behavior.

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Experimental Validation of Nonlinear Dynamic Models for Single-Link Very Flexible Arms

Cited by 8 publications

References 15 publications

Wave-based control of non-linear flexible mechanical systems

Wave-based control of non-linear flexible mechanical systems

Test-Bench COSMOS for Microsatellite Control System Mock-Ups Modeling and Survey

Non-linear behavior in wave-based control

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