On the dynamic modelling and simulation of rigid-flexible manipulator robot using several inputs

Zribi, Sameh; Tlijani, Hatem; Knani, Jilani; Puig, Vicenç

doi:10.1109/codit.2017.8102656

Cited by 3 publications

(1 citation statement)

References 20 publications

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“…Before the dynamic modelling, the redundant manipulator robot is presented by the rigid-flexible manipulator mechanism [15]. It consists of five rigid bodies and the sixth one presenting the end-effector which is considered as a flexible body.…”

Section: A Mechanism's Description and Assumptionsmentioning

confidence: 99%

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

Zribi¹,

Tlijani²,

Knani³

et al. 2017

ijacsa

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Abstract-This paper is concerned with the synthesis of dynamic model of the redundant manipulator robot based on Linear Parameter Varying approach. To evaluate its behavior and in presence of external disturbance several motions profiles are developed using a new algorithm which produce smooth trajectories in optimal time. The main advantages of this proposed approach are its robustness and its simplicity with respect to the flexibility structure, to the motion profile and mass load variations. Numerical simulations with several tasks show that in presence of mass load variation the desired trajectory is more efficiently followed by the LPV model than the dynamic model of the studied mechanism. Its performances are ensured using the smoothest trajectory designed by the Eighth-degree polynomial profile than the Fifth-degree polynomial one and the trapezoidal one.

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Section: A Mechanism's Description and Assumptionsmentioning

confidence: 99%

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

Zribi¹,

Tlijani²,

Knani³

et al. 2017

ijacsa

Self Cite

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Smooth motion profile for trajectory planning of a flexible manipulator

Zribi

Mejerbi

Tlijani

et al. 2018

2018 International Conference on Advanced Systems and Electric Technologies (IC_ASET)

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This paper deals with the problem of trajectory generation with a motion law in joint space for a flexible singlelink manipulator. To this aim, we propose a smooth motion profile based on polynomial function for a flexible manipulator. This motion law is tested with a dynamic model of the manipulator that is controlled using a model-free approach so that the robot can follow the desired trajectory.

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Improvement of Redundant Manipulator Mechanism performances using Linear Parameter Varying Model Approach

Zribi

Knani

Puig

2020

2020 11th International Renewable Energy Congress (IREC)

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On the dynamic modelling and simulation of rigid-flexible manipulator robot using several inputs

Cited by 3 publications

References 20 publications

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

Smooth motion profile for trajectory planning of a flexible manipulator

Improvement of Redundant Manipulator Mechanism performances using Linear Parameter Varying Model Approach

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