Mathematical modeling of flexible beam- A comparative study

R, Roshin; Shihabudheen, K V

doi:10.1109/iccc.2013.6731673

Cited by 7 publications

(4 citation statements)

References 12 publications

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“…In robotics, flexibility causes vibrations and static deflections (Roshin and Shihabudheen 2013). Further nonlinear dynamics also the reason for causing various control problems (Pratt and Williamson 1995).…”

Section: Dynamic Modelingmentioning

confidence: 99%

“…Further nonlinear dynamics also the reason for causing various control problems (Pratt and Williamson 1995). Because of such problems settling period 't s ' is affected as non-linear vibrations, the accuracy of the endpoint is reduced (Roshin and Shihabudheen 2013;Pawar et al 2018). They offer other advantages such as lower energy usage; maximize weight ratio, and reduced production costs.…”

Section: Dynamic Modelingmentioning

confidence: 99%

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Analysis of robust control method for the flexible manipulator in reliable operation of medical robots during COVID-19 pandemic

Jayaswal

Palwalia

Kumar³

2020

Microsyst Technol

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A novel coronavirus disease (COVID-19) is transmitting throughout the globe. During this Pandemic situation, medical robots are playing an important role in protecting front line medical staff from this disease. The flexible robotic manipulator has mechanical flexibility, due to that fluctuation or oscillations can be seen either during or after the movement of a manipulator and can create uncertainty in medical operations. During this pandemic situation, reliable operations of these robots are necessary that depend upon the stability of flexible manipulators. In this article, Linear Quadratic Regulator (LQR), Pole Placement, and Proportional-Integral-Derivatives (PID) control methods have been used to investigate the robust control method for controlling the position of manipulator with flexible link in medical robots. To carry out this research, an effective variant of the flexible Link robotic manipulator has been used as a framework to analyze the robust control method. The MatlabÒ/Simulink result shows that the LQR control method provides better control response compared to PID and pole placement method and thus provides reliable operation to Medical Robots.

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Section: Dynamic Modelingmentioning

confidence: 99%

Section: Dynamic Modelingmentioning

confidence: 99%

Analysis of robust control method for the flexible manipulator in reliable operation of medical robots during COVID-19 pandemic

Jayaswal

Palwalia

Kumar³

2020

Microsyst Technol

View full text Add to dashboard Cite

show abstract

“…Flexible mechanism and flexible joint manipulators are being used in various applications. Flexibility is an unenviable feature as it is responsible for causing control issues likewise vibration and static deflections [11]. External effects, the non-linear dynamic behaviour of flexible manipulators are the various causes of different control issues [12].…”

Section: Dynamic Modeling Of Flexible Joint Manipulatormentioning

confidence: 99%

“…Because of such issues like nonlinear vibrations reduces the end point accuracy, affects the settling time and make the controller design scheme so much convoluted [10]. Flexible joint based robotic manipulators provides many advantages likewise; less energy demand and consumption, decreased the capacity of payload, inexpensive construction, faster movements, longer reach and safer operation [11]. As per the survey on flexible structures, various control algorithms have been developed which have various restrictions for accuracy and precision.…”

Section: Dynamic Modeling Of Flexible Joint Manipulatormentioning

confidence: 99%

Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques

2019

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With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler's-Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole -placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The Matlab ® /simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control.

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Vibration Suppression of the Flexible Beam Structure Using PID Controller Tuned by Advanced Firefly Algorithm

Ab Talib,

Ismail,

Mohd Yatim

et al. 2024

Lecture Notes in Networks and Systems

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Mathematical modeling of flexible beam- A comparative study

Cited by 7 publications

References 12 publications

Analysis of robust control method for the flexible manipulator in reliable operation of medical robots during COVID-19 pandemic

Analysis of robust control method for the flexible manipulator in reliable operation of medical robots during COVID-19 pandemic

Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques

Vibration Suppression of the Flexible Beam Structure Using PID Controller Tuned by Advanced Firefly Algorithm

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