Mode shape analysis, modal linearization, and control of an elastic two-link manipulator based on the normal modes

Sayahkarajy, Mostafa

doi:10.1016/j.apm.2018.02.003

Cited by 26 publications

(15 citation statements)

References 27 publications

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“…The concepts of exploiting natural dynamics of a continuum system for design, optimization, and control of soft robots (Della Santina et al, 2018b; Giorgio et al, 2019; Sayahkarajy, 2018) and continuum sensors (Trinh et al, 2018) have been investigated recently. Although it is not the main focus of this article, the following section is dedicated to linear modal analysis of a hybrid system based on which a module is designed in the TMTDyn software package.…”

Section: Hybrid Systems Mechanicsmentioning

confidence: 99%

TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models

Sadati

Naghibi

Shiva

et al. 2020

The International Journal of Robotics Research

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A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler–Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler–Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid–continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex functionality for improved performance, and modules for static and linear modal analysis of a hybrid system. The underlying theory and software package are validated for modeling experimental results for (i) dynamics of a continuum appendage, and (ii) general deformation of a fabric sleeve worn by a rigid link pendulum. A comparison shows higher simulation accuracy (8–14% normalized error) and numerical robustness of the ROM model for a system with a small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges and necessary modules to further automate the design and analysis of hybrid systems with a large number of states are briefly discussed.

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Section: Hybrid Systems Mechanicsmentioning

confidence: 99%

TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models

Sadati

Naghibi

Shiva

et al. 2020

The International Journal of Robotics Research

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“…The authors also developed an algorithm for online calculation of inertia matrix which helped them to control the tip position of the manipulator. Sayahkarajy (Sayahkarajy 2018) studied the effects of payload and configuration on mode shapes of the flexible manipulator. Chu et al (My et al 2019) tried to reduce the time complexity of solving the dynamic equations of flexible manipulator obtained through FEM.…”

Section: Introductionmentioning

confidence: 99%

Effect of rigid-flexible coupling and bending-torsional vibrations on the dynamics of an articulated two degree of freedom manipulator

Mishra

Singh

2022

Preprint

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In the present, dynamic analysis of a Two-Link Flexible manipulator is carried out using Lagrangian dynamics and finite element method. The flexible links are susceptible to both bending and torsional vibrations. Euler-Bernoulli beam theory is used to define the bending deformation of flexible links. The ‘space-frame’ and ‘plane-frame’ finite elements are used during discretization. The mathematical model of the flexible manipulator is derived accurately after considering the effects of various non-linear phenomena like centrifugal force, Coriolis force, and gravity on three different categories of flexible manipulators. The coupling between the Rigid and Elastic motions of the flexible links are considered while obtaining the simulation results. It is found that this coupling increases the time taken for completion of simulation. Hence, an alternate model is provided that gives fast results and with same accuracy as the actual coupled model. The present work is novel in the respect that it highlights the importance of studying the torsional effects of vibrations besides the bending vibrations on the positional accuracy of flexible manipulators.

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“…Therefore, the control study for the manipulator system is very important. 1–6 It should be pointed out that due to the complexity of the actual working environment of the manipulator, it is often disturbed by braking drive, load change, and sensor signal acquisition and transmission, which affects the stability of the system. To solve this problem, the robust control of manipulator system has attracted the attention of a large number of scholars and has achieved good control results.…”

Section: Introductionmentioning

confidence: 99%

Finite-time robust stabilization of manipulator system with uncertainty via observer method

Shi

Yang

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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Via Hamiltonian function method, the article studies the observer-based finite-time robust stabilization problem of a class of two joint uncertain manipulator system under external disturbance. First, we present an equivalent Hamiltonian model for the two-degree-of-freedom manipulator system and design its finite-time observer and develop a finite-time robust stabilization control result by using Lyapunov stability theory and dimension expansion technique for the manipulator system with external disturbance. On this basis, we further study the robust control problem of the mechanical system containing uncertainty and external disturbance simultaneously and develop several corresponding robust control results for the system. Finally, the control effect is proved by an example simulation. Compared with the existing observer-based infinite time stability control results, an observer and a finite time controller are designed in this article. The system has good robustness to external disturbances and can converge quickly.

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Mode shape analysis, modal linearization, and control of an elastic two-link manipulator based on the normal modes

Cited by 26 publications

References 27 publications

TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models

TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models

Effect of rigid-flexible coupling and bending-torsional vibrations on the dynamics of an articulated two degree of freedom manipulator

Finite-time robust stabilization of manipulator system with uncertainty via observer method

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