Vibration control and calculating inverse dynamics of the rigid-flexible two-link manipulator T-R

Abstract

The dynamics and control of flexible link manipulators (FLMs) are increasing in industrial robotics research. In which the problem of inverse dynamics of the flexible link manipulators is a problem that has been studied little and has no general solution. In this paper, an approximation method is presented to calculate the reverse dynamics of the serial manipulators with rigid-flexible links. The linearization of the motion equations for a rigid-flexible translation and rotation two-link manipulator (manipulator T-R) is addressed. The vibration control and calculating inverse dynamics of a periodic rigid-flexible two-link manipulator T-R are studied. The Taguchi method is used for the design of gain values of the controller PD for the manipulator. The results of numerical simulation show the efficiency and usefulness of the proposed approximation method.

Nghiên cứu so sánh các phương pháp giải bài toán động lực học ngược robot song song Delta

“…Với các robot song song tác giả sử dụng phương pháp tách cấu trúc và phương pháp Lagrange dạng nhân tử để thiết lập phương trình chuyển động của robot. Tác giả đã trình bày hai phương pháp số giải bài toán động lực học ngược robot song song [6,7]. Đó là phương pháp dựa trên các phương trình Lagrange dạng nhân tử và phương pháp dựa trên các phương trình vi phân thu gọn về các tọa độ tối thiểu.…”

Modeling of parallel manipulators with flexible links and joints driven by electric actuators

“…The research works presented in [3,[7][8][9][10][11] focus on elastic serial robotic manipulators. Other works [12][13][14][15][16] concern closed loop multi-body systems to study parallel robots with elastic links in which, five main methods are used to model elastic links including: (1) Lumped parameter method [17], (2) Finite difference method [18], (3) Method of expansion to assumed mode functions [7,10,12,13,16,[19][20][21][22][23][24][25], (4) Finite element method [9,11,14,26,27], (5) Method of multibody systems [8]. Each method has its advantages and disadvantages, which method to use depends on forte and supporting tools.…”