Systematic methods for efficient modeling and dynamics computation of flexible robot manipulators

Li, C.-J.; Sankar, T. S.

doi:10.1109/21.214769

Cited by 38 publications

(28 citation statements)

References 26 publications

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“…It has been derived by substituting expressions (1), (2), (12) and (22) into Eq. (27), applying identities (29), performing integration by part with respect to s n and considering expressions (6), (8), (14), (17) …”

Section: Linear and Angular Momentummentioning

confidence: 99%

“…As compared with other existing methods, the methods proposed are computationally more simple, systematic, and efficient. Simulation results for a single-link flexible robot manipulator are presented to verify the methods and the algorithms proposed [12]. Book [13] has developed nonlinear equations of motion for flexible manipulator arms consisting of rotary joints that connect pairs of flexible links.…”

Section: Introductionmentioning

confidence: 98%

“…The results are illustrated by numerical simulation of a flexible spatial RRP (revolute/revolute/prismatic) configuration robot [11]. Li and Sankar [12] have developed systematic methods for efficient modeling and dynamics computation, using the Lagrangian assumed modes method. The methods greatly reduce the number of mathematical operations required for the modeling and dynamics computation of flexible manipulators.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Dynamic model of a flying manipulator with two highly flexible links

Zohoor

Khorsandijou

2008

Applied Mathematical Modelling

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Nonlinear dynamic model of a flying manipulator with two revolute joints and two highly flexible links is obtained using Hamilton's principle. Flying base of the manipulator is a rigid body. Stress is treated three dimensionally in the isotropic linearly-elastic links, but the in-plane and out-of-plane warpings of the links' cross-sections are neglected. Although the links' cross-sections undergo negligible elastic orientation, their models are more accurate than a nonlinear 3D EulerBernoulli beam. Tension, compression, twisting and spatial deflections of each link are coupled to each other by some nonlinear terms including two new ones. In the issue of flying flexible-link manipulators new terminologies, namely forward/ inverse kinetics instead of forward/inverse kinematics are suggested, since determination of position and orientation of the end-effector is coupled to the partial differential motion equations.

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Section: Linear and Angular Momentummentioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

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Dynamic model of a flying manipulator with two highly flexible links

Zohoor

Khorsandijou

2008

Applied Mathematical Modelling

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“…Various modeling approaches have been proposed in the literature to derive the dynamic model of FLM, such as Lagrangian-Assumed modes method [16], finite element method [25], and Kane's approach [14]. A detailed approach to modeling of flexible manipulators using recursive Lagrangian dynamics is presented by Book [6] and Li and Sankar [8]. The kinematics of manipulator using homogeneous transformation matrices is presented in [15].…”

Section: Introductionmentioning

confidence: 99%

Vibration Control of Flexible Link Manipulator Using SDRE Controller and Kalman Filtering

Reddy¹,

Jacob²

2017

SIC

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Abstract:The problem of estimating the flexural states while applying State-Dependent Riccati Equation (SDRE) technique to flexible link manipulator (FLM) is the focus of this paper. The proposed method investigates the effect of employing Kalman Filter as state estimator in the case of the deterministically modelled FLM. The dynamic model of the FLM is derived through combined Euler Lagrangian-Assumed modes approach based on two significant modes, resulting in a nonlinear model with six states. The information of states being crucial to the imple mentation of SDRE controller, the state estimator based on Kalman filter designed in this paper, minimizes the effect of noises that may corrupt the state measurements. Simulation results reveal the effectiveness of Kalman filter based SDRE controller for accurate positioning and vibration suppression of the FLM.

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“…Modeling and control of manipulators with flexible links having only revolute joints have been discussed extensively in the literature [1]- [6], while the research on modeling prismatic jointed flexiblelink manipulators is limited [7]- [11]. When a link with the prismatic joint is modeled as flexible, the system becomes a moving boundary value problem.…”

Section: Introductionmentioning

confidence: 99%