Modelling and control of manipulators with flexible links working on land and underwater environments

Abstract

In this study, modelling and control of a two-link robot manipulator whose first link is rigid and the second one is flexible is considered for both land and underwater conditions. Governing equations of the systems are derived from Hamilton's Principle and differential eigenvalue problem. A computer program is developed to solve nonlinear ordinary differential equations defining the system dynamics by using Runge-Kutta algorithm. The response of the system is evaluated and compared by applying classical control methods; proportional control and proportional + derivative (PD) control and an intelligent technique; integral augmented fuzzy control method. Modelling of drag torques applied to the manipulators moving horizontally under the water is presented. The study confirmed the success of the proposed integral augmented fuzzy control laws as well as classical control methods to drive flexible robots in a wide range of working envelope without overshoot compared to the classical controls.

A Comparison Study of Underwater and Land Flexible Manipulators

“…The manipulators are utilized in the industrial processes for instance grinding, sensors, material handling systems, drilling, painting, instrumentation, coating and vehicle systems [2][3]. On the other hand, many other applications concerned by underwater manipulators such as underwater welding, underwater pipeline examination and installation, finding out the coral reef, and employing to set the valves in a nuclear power plants [4][5]. Nowadays, many other applications concerned by robot manipulator for example in surgery and space applications.…”

Tip-contact force control of a single-link flexible arm using feedback and parallel compensation approach

“…Generally, the theme of flexible robot control includes the motion in free space, [1][2][3][4][5][6][7][8][9] the contact transition between the unconstrained and constrained environments, [10][11][12][13][14][15][16] or remains in contact with a surface. [17][18][19][20][21][22][23][24][25][26][27][28][29][30][31][32][33][34][35][36] Some control methods for flexible joint robots have been also reported.…”

A force observation method for tracking control of flexible-link manipulators

“…Exclusive features of this structure are vital in some applications such as surgical robotics, underwater applications and space manipulations. [1][2][3] As an example, the structure of surgical robots should be miniaturized to be practical in minimally invasive surgeries (MIS). 4,5 This structural miniaturization causes flexibility in the robotic arms.…”