Journal ArticleDOI
Vibration control for a flexible-link robot arm with deflection feedback
TLDR
An optical sensing system consisting of a laser diode and a position sensitive detector is introduced for the real-time measurement of the dynamic deflection and a Lyapunov-type controller based on the deflection feedback is proposed to damp out the tip oscillations and regulate the endpoint of the flexible robot.Abstract:
The use of flexible links in a robot inevitably causes the elastic deflection and vibration of the endpoint of the robot during high-speed operations. The deflection and vibration will tend to degrade the positioning performance of the robot. In this paper, an optical sensing system consisting of a laser diode and a position sensitive detector is introduced for the real-time measurement of the dynamic deflection. Utilising a non-linear, coupled and measurement-based dynamic system model, a Lyapunov-type controller based on the deflection feedback is then proposed to damp out the tip oscillations and regulate the endpoint of the flexible robot. Experimental tests are conducted for a flexible one-link robot arm with a payload mass at the tip. The results demonstrate the effectiveness of the proposed measuring and control schemes.read more
Citations
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Journal ArticleDOI
Dynamic analysis of flexible manipulators, a literature review
TL;DR: A survey of the literature related to dynamic analyses of flexible robotic manipulators has been carried out in this article, where both link and joint flexibility are considered in this work and an effort has been made to critically examine the methods used in these analyses, their advantages and shortcomings and possible extension of these methods to be applied to a general class of problems.
Journal ArticleDOI
Review of Control and Sensor System of Flexible Manipulator
TL;DR: A comprehensive review of the control strategies for the flexible manipulators and flexible joints that were studied in recent literatures is presented, providing some possible issues for future research works.
Journal ArticleDOI
Adaptive boundary control for flexible two-link manipulator based on partial differential equation dynamic model
Zhang Linjun,Jinkun Liu +1 more
TL;DR: In this article, an adaptive boundary control for a flexible two-link manipulator with a changeable payload at the free-end is proposed, taking into account the infinite dimensionality of the flexural dynamics.
Journal ArticleDOI
Survey of Research for Performance Measurement of Mobile Manipulators.
TL;DR: The survey provides a literature review of mobile manipulator research with examples of experimental applications and reviews performance metrics considered for mobile robots, robot arms, and mobile manipulators and the systems that measure their performance, including machine tool measurement systems through dynamic motion tracking systems.
Journal ArticleDOI
Motion Planning and Adaptive Neural Tracking Control of an Uncertain Two-Link Rigid–Flexible Manipulator With Vibration Amplitude Constraint
TL;DR: In this article , an uncertain two-link rigid-flexible manipulator with vibration amplitude constraint is designed to achieve position control via motion planning and adaptive tracking approach, where the motion trajectories for the two links of the manipulator are planned based on virtual damping and online trajectories correction techniques.
References
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Book
A Mathematical Introduction to Robotic Manipulation
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
BookDOI
Theory of Robot Control
TL;DR: In this paper, the authors propose a joint space control task space control for rigid manipulators and flexible manipulators with elastic joints and flexible links, as well as modeling and structural properties feedback linearization nonlinear feedback control.
Book
Introduction to Dynamics and Control of Flexible Structures
John L. Junkins,Youdan Kim +1 more
TL;DR: This textbook is the first to blend two traditional disciplines: engineering mechanics and control engineering, and will help the next generation of structural dynamists and control engineers gain broad competence in Mechanics and control.
Journal ArticleDOI
Comparison of the assumed modes and finite element models for flexible multilink manipulators
Rex J. Theodore,Ashitava Ghosal +1 more
TL;DR: It is analytically show that overestimation of structure stiffness may lead to unstable closed-loop response of the original manipulator system, using a model-based control law, and show that fewer mathematical operations are required for inertia matrix computation in the finite element model compared with the assumed modes formulation.
Related Papers (5)
Dynamic analysis of flexible manipulators, a literature review
Comparison of the assumed modes and finite element models for flexible multilink manipulators
Rex J. Theodore,Ashitava Ghosal +1 more