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Tuesday, May 19, 2020 | History

2 edition of Dynamics and control of a single-link robot manipulator with structural flexibility. found in the catalog.

Dynamics and control of a single-link robot manipulator with structural flexibility.

Farshad Rakhsha

Dynamics and control of a single-link robot manipulator with structural flexibility.

by Farshad Rakhsha

  • 289 Want to read
  • 22 Currently reading

Published .
Written in English


The Physical Object
Pagination133 leaves
Number of Pages133
ID Numbers
Open LibraryOL18569212M

You can write a book review and share your experiences. Other readers will always be interested in your opinion of the books you've read. Whether you've loved the book or not, if you give your honest and detailed thoughts then people will find new books that are right for them. @article{osti_, title = {An inverse dynamic trajectory planning for the end-point tracking control of a flexible manipulator}, author = {Kwon, D S and Babcock, S M and Book, W J}, abstractNote = {A manipulator system that needs significantly large workspace volume and high payload capacity has greater link flexibility than typical industrial robots and teleoperators.

Modelling and control of rigid-flexible multibody systems is studied in this paper. As a specified application, a space robotic system with flexible appendages during a cooperative object manipulation task is considered. This robotic system necessitates delicate force exertion by several end-effectors to move an object along a desired by: 2. The Comparative Assessment of Modelling and Control of Mechanical Manipulator 5 x The inertia of payload is neglected. x The backlash in the reduction gear and coulomb friction effects are neglected. x It is assumed that the mobile base does not slide. The generalized coordinates of the flexible links/joints mobile manipulator consist of four.

Abstract The paper presents a dynamic modelling technique for a manipulator with multiple flexible links and flexible joints, based on a combined Euler–Lagrange formulation and assumed modes method. The resulting generalised model is validated through computer simulations by considering a simplified case study of a two-link flexible manipulator with joint elasticity. characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system is developed based on finite element methods. The flexural and rigid dynamics of the system as well as inertia effects and structural .


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Dynamics and control of a single-link robot manipulator with structural flexibility by Farshad Rakhsha Download PDF EPUB FB2

Dynamic Model and Robust Control o f Flexible Link Robot Manipulator (Muhammad Khairudin) In designing LQR contro ller, LQR function in m atlab m-file can be us ed to determine the. In this paper we investigate the dynamics of robotic interception and capture of a moving object.

This problem, i.e., the interception and capture of a moving object by a robot, is called dynamic mass capture. The effects of structural flexibility of the robot is taken into consideration.

In terms of time, the analysis is divided into three phases: before capture (finite motion), at the Cited by: One most important is the structural flexibility problem of a robot manipulator and subsequently significant difficulties with its control systems, especially, position control.

To illustrate the effectiveness of the proposed results, the NRSFE is applied to the single-link flexible-joint robot manipulator involving actuator dynamics of brushed DC motor model (), () to estimate the link angle x 1, k, the motor angle x 3, k, velocity of the link x 2, k, velocity of the motor x 4, k, the armature current x 5.

In this work, we aim to present the details of our investigations concerned with a deriving procedure of a complete and accurate closed form dynamic model for a flexible single link robot manipulator clamped at its base and carrying a payload at its end-point.

flexibility is significant, position control of the manipulator's end-effector exhibits nonminimum-phase. noncollocated, and flexible-structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a single-link flexible manipulator.

The inverse dynamic equation of a single-link flexible manip­ ulator was. Computers Cited by: 4. This work treats the problem of dynamic modeling and state space approximation for robotic manipulators with flexibility.

Case studies are planar manipulators with a single flexible link together with clamped-free ends and tip mass conditions.

In this paper, complete dynamic modeling of the flexible beam without premature linearization in the formulation of the dynamics equations is Cited by: 8.

Flexible linkage structural vibration control on a 3-PRR planar parallel manipulator: Experimental results. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol. Issue. 1, by: This new book discusses the very latest developmens in modelling, simulation and control of flexible robot manipulators.

Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches, numerical modelling/simulation techniques and more. In order to control the angular displacement of the hub and to suppress the vibration at the end point of an underwater flexible single-link manipulator system efficiently, it is required to obtain an adequate model of the structure.

In this study, a mathematical model of an underwater flexible single-link manipulator system has been developed and modelled as a pinned-free, an Euler-Bernoulli Cited by: 1. @article{osti_, title = {End point position control of a single link, two-degree-of-freedom manipulator with joint compliance and actuator dynamics}, author = {Forrest-Barlach, M G and Babcock, S M and Singh, H and Rabins, M J}, abstractNote = {One problem which limits the cycle time of typical industrial manipulators is the vibration which results if the modes of vibration of a.

Chalhoub, N. G., Kfoury, G. A., and Bazzi, B. "Development of a Robust Controller and Observer for the Control of a Single-Link Flexible Robotic Manipulator." Proceedings of the ASME International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control, Parts A and B.

Orlando, Florida, : N. Chalhoub, G. Kfoury, B. Bazzi. Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible by: Control and Design of Flexible-Link Manipulators Mehrdad Moallem A Thesis The Department of increased structural flexibility may be desirable in tasks such as cleaning delicate surfaces, or avoiding damages to the manipulator system due to accidental collisions.

"Robot Dynamics and Control," McGraw-Hill, Kanoh H. and Lee H.G. (): Vibration control of a one-link flexible arm.

- Proceedings of the 24th Conference on Decision and Control, pp Krishnan H. and Vidyasagar M. (): Control of a single-link flexible beam using a Hankel-norm-based reduced order model. Multi-Criteria Optimal Path Planning of Flexible Robots 5 while section 6 shows numerical results.

The conclusions and perspectives for future work are given in section 7. Manipulator model Deflection Different schemes for modeling of the manipulators have been studied by a.

Book[Ref.6]usedthe4>. Adaptive closed-loop control of a single-link flexible manipulator the objective of the vibration controller is to reduce motion-induced vibration of the manipulator arising from structural flexibility of the system during fast maneuvers.

Modelling and open-loop control of a single-link flexible manipulator with neural networks. Journal Cited by: For a flexible single-link manipulator system, the mass matrix consists of terms; mass matrix three due to the structural mass of the manipulator, mass matrix due to hub inertia and mass matrix due to tip payload mass.

A brief outline of the mass matrices is given below. The kinetic energy of the ith element. Title: Experimental sliding mode control of a flexible single link manipulator: Creator: Qian, Timothy W. T. Date Issued: Description: Employing flexible robot arms is of great importance to the intended enhancement of the performance of current generation robots to achieve higher efficiency.Cetinkunt, Sabri, and Wayne Book, "Performance Limitations of Joint Variable Feedback Controllers Due to Manipulator Structural Flexibility," IEEE Transactions on Robotics and Automation, vol.

6, no. 2, Aprilpp. Yang, G.B., and Donath, M. Dynamic model of a one-link robot manipulator with both structural and joint flexibility. In Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA, 24–29 April. Google ScholarCited by: 7.