Review of Control and Sensor System of Flexible Manipulator

Kiang, Chang Tai; Spowage, A.C.; Yoong, Chan Kuan

doi:10.1007/s10846-014-0071-4

Cited by 227 publications

(120 citation statements)

References 132 publications

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“…The industrial robot used in this paper is 2-R planar robot mentioned in [30] and its nonlinear model is given in equation (1). Dynamics of used robotic arm is shown in Fig.…”

Section: Nonlinear Model Of Robotic Armmentioning

confidence: 99%

“…Robotic arms are widely used in various industries like process industries, medical fields, nuclear plants to name a few [1] to perform several tasks like picking and placing, paint spraying, welding, material deposition for 3D printing, calligraphy and so on. All such applications require the end effector of the robotic arm to achieve precise level of positioning, faster response and robust behavior in the presence of external disturbance and varying load conditions.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fractional Order Based Computed Torque Control of 2-link Robotic Arm

Anwaar¹,

Yin²,

Ijaz³

et al. 2018

Adv. Sci. Technol. Res. J.

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The paper proposes the application of fractional order controller in position tracking control of 2-link nonlinear robotic arm. The nonlinear system dynamics is linearized using inverse dynamics of the model and fractional order PID controller is designed to deal with remaining tracking errors. The optimal values of controller parameters are calculated using Nelder-Mead optimization technique based on desired design criteria. The objective function is designed using weighted sum approach on each performance specification based on transient domain parameters. It can be seen from simulation results that fractional order controller together with computed torque controller improved tracking performance of proposed system as compared to PID controller used in the outer loop. Moreover, the robustness of proposed scheme is checked by applying the disturbance signal at control input channels of 2-link nonlinear robotic arm links.

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“…The industrial robot used in this paper is 2-R planar robot mentioned in [30] and its nonlinear model is given in equation (1). Dynamics of used robotic arm is shown in Fig.…”

Section: Nonlinear Model Of Robotic Armmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fractional Order Based Computed Torque Control of 2-link Robotic Arm

Anwaar¹,

Yin²,

Ijaz³

et al. 2018

Adv. Sci. Technol. Res. J.

View full text Add to dashboard Cite

show abstract

“…However, due to the low mode frequency and structure damping, the FCRM easily exhibits elastic vibration during the operation process, which has a heavy influence on the positioning accuracy and service life of the whole system, especially in high-speed operations (Neto et al, 2013). Thus, the dynamic characteristics and vibration control of the FCRM should be further analyzed (Feliu et al, 2014;Kiang et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

Nonlinear modelling and dynamic stability analysis of a flexible Cartesian robotic manipulator with base disturbance and terminal load

Fan

et al. 2017

Mech. Sci.

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Abstract. The flexible Cartesian robotic manipulator (FCRM) is coming into widespread application in industry. Because of the feeble rigidity and heavy deflection, the dynamic characteristics of the FCRM are easily influenced by external disturbances which mainly concentrate in the driving end and the load end. Thus, with the influence of driving base disturbance and terminal load considered, the motion differential equations of the FCRM under the plane motion of the base are constructed, which contain the forced and non-linear parametric excitations originated from the disturbances of base lateral and axial motion respectively. Considering the relationship between the coefficients of the motion differential equations and the mode shapes of the flexible manipulator, the analytic expressions of the mode shapes with terminal load are deduced. Then, based on multiple scales method and rectangular coordinate transformation, the average equations of the FCRM are derived to analyze the influence mechanism of base disturbance and terminal load on the system parametric vibration stability. The results show that terminal load mainly affects the node locations of mode shapes and mode frequencies of the FCRM, and the axial motion disturbance of the driving base introduces parametric excitation while the lateral motion disturbance generates forced excitation for the transverse vibration model of the FCRM. Furthermore, with the increase of the base excitation acceleration and terminal load, the parametric vibration instability region of the FCRM increases significantly. This study will be helpful for the dynamic characteristics analysis and vibration control of the FCRM.

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“…Recently, owing to the excellent mechanical-electrical coupling characteristics, the piezoelectric smart materials of lead zirconium titanate (PZT) have been widely applied in the field of vibration damping for flexible manipulators [9,10,11,12]. Under appropriate voltage control, the PZT actuators, which are bonded on the surface of the flexible manipulator, can generate shear forces to suppress the elastic deformation.…”

Section: Introductionmentioning

confidence: 99%

Two-Time Scale Virtual Sensor Design for Vibration Observation of a Translational Flexible-Link Manipulator Based on Singular Perturbation and Differential Games

Wang

et al. 2016

Sensors

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Effective feedback control requires all state variable information of the system. However, in the translational flexible-link manipulator (TFM) system, it is unrealistic to measure the vibration signals and their time derivative of any points of the TFM by infinite sensors. With the rigid-flexible coupling between the global motion of the rigid base and the elastic vibration of the flexible-link manipulator considered, a two-time scale virtual sensor, which includes the speed observer and the vibration observer, is designed to achieve the estimation for the vibration signals and their time derivative of the TFM, as well as the speed observer and the vibration observer are separately designed for the slow and fast subsystems, which are decomposed from the dynamic model of the TFM by the singular perturbation. Additionally, based on the linear-quadratic differential games, the observer gains of the two-time scale virtual sensor are optimized, which aims to minimize the estimation error while keeping the observer stable. Finally, the numerical calculation and experiment verify the efficiency of the designed two-time scale virtual sensor.

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Review of Control and Sensor System of Flexible Manipulator

Cited by 227 publications

References 132 publications

Fractional Order Based Computed Torque Control of 2-link Robotic Arm

Fractional Order Based Computed Torque Control of 2-link Robotic Arm

Nonlinear modelling and dynamic stability analysis of a flexible Cartesian robotic manipulator with base disturbance and terminal load

Two-Time Scale Virtual Sensor Design for Vibration Observation of a Translational Flexible-Link Manipulator Based on Singular Perturbation and Differential Games

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