Modeling of Flexible Manipulators

Gao, Yanqing; Wang, Fei‐Yue; Xiao, Zhi-Quan

doi:10.1016/b978-0-12-397036-7.00003-9

Cited by 6 publications

(3 citation statements)

References 30 publications

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“…These vibrations affect the repeatability and performance of flexible manipulators. It is interesting for researchers to reduce residual vibrations and achieve higher repeatability and performance (Gao et al, 2012; Tokhi and Azad, 2017).…”

Section: Introductionmentioning

confidence: 99%

Measurement and modeling of a flexible manipulator for vibration control using five-segment S-curve motion

Malgaca

Lök

2021

Transactions of the Institute of Measurement and Control

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User designed manipulators are widely used in industry as a part of automation. The design of lighter robotic arms is required for less energy consumption. Joints, structural features, and payload affect the dynamic behavior of manipulators. Even if the arms have sufficient structural rigidity, joints, or payloads further increase their flexibility. These factors should be considered at the design stage. Flexibility causes vibrations, and these vibrations negatively affect robot repeatability and processing speed. Reducing the vibration levels of flexible manipulators is an attractive issue for engineers and researchers. Accurate estimation of the mathematical model of flexible manipulators increases the success of vibration control. In this paper, the modeling and experiments for vibration control of a single-axis flexible curved manipulator with payload are considered. The experimental system is introduced to collect vibration responses synchronously at the tip of the curved manipulator for angular velocity input. The mathematical model of the manipulator is estimated using the continuous-time system identification (CTSI) method with a black-box model based on the experimental input/output (I/O) signals. A five-segment S-curve motion input based on the modal parameters is designed to suppress residual vibrations. Vibration control is successfully performed for different deceleration times of the designed S-curve motion input. The results showed that the residual vibrations from experiments and predicted models matched well for different cases depending on payload, angular position, and motion time.

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Section: Introductionmentioning

confidence: 99%

Measurement and modeling of a flexible manipulator for vibration control using five-segment S-curve motion

Malgaca

Lök

2021

Transactions of the Institute of Measurement and Control

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“…Among many methods applied to single-actuator, position control of lumped or distributed flexible mechanisms (see, for example, literature 1–7 ), wave-based control (WBC) provides a low-cost, precise, robust, rapid and effective strategy. 8–17 It has been well studied for rectilinear systems (1D cascades of masses and springs) for rest-to-rest motion, with the same actuator combining position control and active vibration damping, simultaneously.…”

Section: Introductionmentioning

confidence: 99%

Wave-based planar motion and vibration control of under-actuated mass-spring arrays

Habibi

O’Connor

2018

Journal of Low Frequency Noise, Vibration and Active Control

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This paper considers the problem of position control and active vibration damping of a planar, array (or grid) of masses and springs, by a single actuator, attached to one corner of the array, which is required to translate and rotate the entire system from rest to rest, through target linear and angular displacements, simultaneously. An obvious challenge is that the system has many degrees of freedom, with many undamped vibration modes, and is clearly highly under-actuated. The control technique is a development of "wave-based control," whereby rapid and effective control of the entire system is achieved, robustly, using measurements made only at the actuator, of the actuator's own motion and of the forces between the actuator and the attached flexible system. No detailed system model or system identification is needed. The actuator need not be ideal. The array does not have to be uniform, in its geometry or in the mass and spring values. The control strategy is simple to implement. The 2D array is of interest in itself as a benchmark control challenge, but it can also be considered a model of various lumped structures, or a discretisation of distributed systems.

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“…The complexity of modelling and control of this class of lightweight manipulators is widely reported in the literature. Detailed discussions can be found in [1]–[7].…”

Section: Introductionmentioning

confidence: 99%

Modelling and Intelligent Control of an Elastic Link Robot Manipulator

Loudini

2013

International Journal of Advanced Robotic Systems

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In this paper, precise control of the end‐point position of a planar single‐link elastic manipulator robot is discussed. The Timoshenko beam theory (TBT) has been used to characterize the structural link elasticity including important damping mechanisms. A suitable nonlinear model is derived based on the Lagrangian assumed modes method. Elastic link manipulators are classified as systems possessing highly complex dynamics. In addition, the environment in which they operate may have a lot of disturbances. These give rise to special problems that may be solved using intelligent control techniques. The application of two advanced control strategies based on fuzzy set theory is investigated. The first closed‐loop control scheme to be applied is the standard Proportional‐Derivative (PD) type fuzzy logic controller (FLC), also known as PD‐type Mamdani’s FLC (MPDFLC). Then, a genetic algorithm (GA) is used to optimize the MPDFLC parameters with innovative tuning procedures. Both the MPDFLC and the GA optimized FLC (GAOFLC) are implemented and tested to achieve a precise control of the manipulator end‐point. The performances of the adopted closed‐loop intelligent control strategies are examined via simulation experiments

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Modeling of Flexible Manipulators

Cited by 6 publications

References 30 publications

Measurement and modeling of a flexible manipulator for vibration control using five-segment S-curve motion

Measurement and modeling of a flexible manipulator for vibration control using five-segment S-curve motion

Wave-based planar motion and vibration control of under-actuated mass-spring arrays

Modelling and Intelligent Control of an Elastic Link Robot Manipulator

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