The Comparative Assessment of Modeling and Control of Mechanical Robot Manipulators

Nohooji, Hamed Rahimi

doi:10.5772/10187

Cited by 2 publications

(1 citation statement)

References 15 publications

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“…The most important feature of this method that distinguishes it from other modeling approaches is that it can better model complex and irregular geometries. Korayem et al 13 compared the FE method and AMM to describe the nonlinear dynamic behavior of a flexible manipulator. Then, they presented the advantages and disadvantages of both methods in modeling the flexural vibration behavior of the manipulators.…”

Section: Introductionmentioning

confidence: 99%

Analysis of an actively controlled composite box manipulator without external actuator

Lök,

Malgaca,

Uyar

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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This study focuses on active vibration control for a single-link composite box manipulator by using a single actuator for driving and control actions. Model extraction and system identification techniques are studied to obtain mathematical models of the manipulator. The state space model is extracted from the finite element model using modal analysis conducted in ANSYS, while the system identification approach is an experimental modeling method using the input and output signals of the system. The input signals are defined as triangular and trapezoidal motion profiles, while the output signals are the acceleration signals of the manipulator. Proportional derivative and positive position feedback controllers are implemented on the obtained mathematical models to reduce residual vibrations. The simulation results are successfully verified by experiments, and uncontrolled/controlled results are evaluated with reduction rates.

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Section: Introductionmentioning

confidence: 99%