New development of the dynamic modeling and the inverse dynamic analysis for flexible robot

My, Chu Anh; Bien, Duong Xuan

doi:10.1177/1729881420943341

Cited by 18 publications

(10 citation statements)

References 36 publications

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“…[72][73][74] The mass and inertia of the three axis joints are large, so the dynamic characteristics of the system, the friction between the components and the damping of the motion are ignored. [75][76][77] The structure of the Dobot Magician manipulator is simplified and the dynamics of the manipulator is modeled, and the simplified model structure as shown in the Figure 1.…”

Section: Dobot Magician Manipulator Dynamics Modelmentioning

confidence: 99%

“…As the three axis rotational joints of the Dobot magician robot determine the position of the robot, only the three axis rotational joints are analyzed for their dynamics 72–74 . The mass and inertia of the three axis joints are large, so the dynamic characteristics of the system, the friction between the components and the damping of the motion are ignored 75–77 . The structure of the Dobot Magician manipulator is simplified and the dynamics of the manipulator is modeled, and the simplified model structure as shown in the Figure 1.…”

Section: Dynamical Modelmentioning

confidence: 99%

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Manipulator trajectory tracking based on adaptive sliding mode control

Zhao

Tao

et al. 2022

Concurrency and Computation

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A manipulator is a complex electromechanical system that is nonlinear, strongly coupled, and uncertain. Achieving its precise and high-quality trajectory control is difficult.Sliding mode control (SMC) is one of the common control methods for manipulators.However, discontinuities in SMC can cause jitter and vibration in the manipulator system, leading to a reduction in the performance of the control system. For the self-adaptive capability jitter vibration problem of SMC, the Dobot magician manipulator is treated as the research object in this article. The dynamics equations of the manipulator are established by Lagrange method, and a simplified model of the manipulator dynamics is constructed. The method of self-adaptive sliding mode control is proposed. Self-adaptive parameters are added to the SMC to achieve self-adaptive adjustment of the SMC parameters. In the MATLAB/Simulink simulation environment analysis show that the self-adaptive SMC method has better self-tuning ability and trajectory tracking ability than the traditional SMC, and weakens the jitter phenomenon existing in the traditional SMC.

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Section: Dobot Magician Manipulator Dynamics Modelmentioning

confidence: 99%

Section: Dynamical Modelmentioning

confidence: 99%

Manipulator trajectory tracking based on adaptive sliding mode control

Zhao

Tao

et al. 2022

Concurrency and Computation

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“…In order to obtain reasonable information for verifying the proposed algorithm accurately in the simulation, the dynamic model of the simulation is necessary. In this simulation, Newtonian mechanics were applied to the dynamic model [ 33 , 34 , 35 ]. Newtonian mechanics describe the motion of rigid bodies.…”

Section: Simulation Studymentioning

confidence: 99%

Multi-Phase Joint-Angle Trajectory Generation Inspired by Dog Motion for Control of Quadruped Robot

Choi

2021

Sensors

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Quadruped robots are receiving great attention as a new means of transportation for various purposes, such as military, welfare, and rehabilitation systems. The use of four legs enables a robustly stable gait; compared to the humanoid robots, the quadruped robots are particularly advantageous in improving the locomotion speed, the maximum payload, and the robustness toward disturbances. However, the more demanding conditions robots are exposed to, the more challenging the trajectory generation of robotic legs becomes. Although various trajectory generation methods (e.x., central pattern generator, finite states machine) have been developed for this purpose, these methods have limited degrees of freedom with respect to the gait transition. The conventional methods do not consider the transition of the gait phase (i.e., walk, amble, trot, canter, and gallop) or use a pre-determined fixed gait phase. Additionally, some research teams have developed locomotion algorithms that take into account the transition of the gait phase. Still, the transition of the gait phase is limited (mostly from walking to trot), and the transition according to gait speed is not considered. In this paper, a multi-phase joint-angle trajectory generation algorithm is proposed for the quadruped robot. The joint-angles of an animal are expressed as a cyclic basis function, and an input to the basis function is manipulated to realize the joint-angle trajectories in multiple gait phases as desired. To control the desired input of a cyclic basis function, a synchronization function is formulated, by which the motions of legs are designed to have proper ground contact sequences with each other. In the gait of animals, each gait phase is optimal for a certain speed, and thus transition of the gait phases is necessary for effective increase or decrease in the locomotion speed. The classification of the gait phases, however, is discrete, and thus the resultant joint-angle trajectories may be discontinuous due to the transition. For the smooth and continuous transition of gait phases, fuzzy logic is utilized in the proposed algorithm. The proposed methods are verified by simulation studies.

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“…In the research areas of flexible robot dynamics and FEM, finite element kinematic and dynamic formulation was successfully developed by Chu A My [14,15] and validated for a flexible robot via the use of a transformation matrix to describe the kinematics of both the joint motion and the link deformation. The authors of [16] developed a new mathematical approach for the dynamic modeling of a general flexible/rigid robot.…”

Section: Introductionmentioning

confidence: 99%

A Study of the Vibration Characteristics of Flexible Mechanical Arms for Pipe String Transportation in Oilfields

Wang

Gao

et al. 2022

Energies

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During the drilling and repairing of wells, the pipe string transfer equipment has a high work frequency. The movement accuracy, response speed, and controllability of the equipment have significant impacts on the stability. In this paper, we propose an analysis method of mechanical arms to lift pipe strings using a rigid–flexible coupling model. With the mechanical arm as a flexible body and the mechanical hand as a rigid body, a numerical calculation model of the rigid-flexible coupling of the system was established based on the Lagrangian equation. ADAMS and Ansys software were applied to numerical simulations of this system to investigate the lifting characteristics, the influence of the operation parameters and structure parameters, and the contact collision analysis of the mechanical arm. The conditions of rigid–flexible modeling for the multi-body system and the main factors affecting the vibration characteristics of the flexible arm are described. We conclude that the arm should be modeled as a rigid body if the structure parameter [w/l] (elastic deformation/length) is between 1/650 and 1/1000, the system can be modeled as a rigid–flexible coupling if [w/l] is between 1/400 and 1/650, and the arm should be modeled as a flexible body and the influence and compensation of the control method should be considered if [w/l] is between 1/250 and 1/400.

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New development of the dynamic modeling and the inverse dynamic analysis for flexible robot

Cited by 18 publications

References 36 publications

Manipulator trajectory tracking based on adaptive sliding mode control

Manipulator trajectory tracking based on adaptive sliding mode control

Multi-Phase Joint-Angle Trajectory Generation Inspired by Dog Motion for Control of Quadruped Robot

A Study of the Vibration Characteristics of Flexible Mechanical Arms for Pipe String Transportation in Oilfields

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