Journal ArticleDOI
Modal Space Control of Manipulator Vibrational Motion
P. Kärkkäinen,Aarne Halme +1 more
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TLDR
In this article, a modal approach is used for obtaining the reduced order mathematical model of the manipulator flexible motion which is sufficiently tractable to be utilized for control purposes for compensating manipulator flexibility effects to cope with the current requirements on better accuracy and higher performance of manipulator motion.About:
This article is published in IFAC Proceedings Volumes.The article was published on 1985-11-01. It has received 4 citations till now. The article focuses on the topics: Parallel manipulator & Modal analysis.read more
Citations
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Proceedings ArticleDOI
Dynamic modelling of flexible robot manipulators
TL;DR: The problem of modeling flexible robots is considered and the dynamic model is obtained by using a generalized Lagrangian approach and by expanding in a limited number of terms the function describing the exact shape of bended beams constituting the robot.
Journal ArticleDOI
Flexible Robots - A Survey
TL;DR: Some methods for the mechanical modelling of flexible robot structures are discussed and compared and an overview of possible control methods and strategies for the dynamic behavior is given.
Journal ArticleDOI
Accuracy of Discrete Models for the Solution of the Inverse Dynamics Problem for Flexible Arms, Feasible Trajectories
H. C. Moulin,Eduardo Bayo +1 more
TL;DR: In this article, the tracking order of consistent and lumped finite element models is derived and compared with the tracking ordering of the continuous model when there is no tip-mass, and the same results are obtained if superposition of modes rather than finite elements is used.
Time Varying Compensator Design for Reconfigurable Structures Using Non-Collocated Feedback
TL;DR: In this paper, a Spline Varying Optimal (SVO) controller is developed for the kinematic nonlinear system, in which the spline function approximates the system model, observer, and controller gain.
References
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Proceedings ArticleDOI
Dynamic Simulation of a Flexible Robot Arm and Controller
Nabil G. Chalhoub,A. Galip Ulsoy +1 more
TL;DR: An assumed modes method is used to model the flexible motion of the last link of a spherical coordinate robot arm to investigate relationships between the arm structural flexibility and a linear controller for the rigid body motion.
Related Papers (5)
Formulation and dynamics of flexible space robots with deployable links
Shinji Hokamoto,V.J. Modi +1 more