A unified dynamic model and control synthesis for robotic manipulators with geometric end-effector constraints

KSME Journal ◽  
1996 ◽  
Vol 10 (2) ◽  
Author(s):  
Sam -Sang You
Keyword(s):  
Dynamic Model ◽  
Robotic Manipulators ◽  
Control Synthesis ◽  
End Effector ◽  
And Control

Dynamic Analysis and Control of Industrial Robotic Manipulators

2018 ◽  
Vol 883 ◽  
pp. 30-36 ◽  
Author(s):  
Yunn Lin Hwang ◽  
Jung Kuang Cheng ◽  
Van Thuan Truong
Keyword(s):  
Control System ◽  
Robotic Manipulators ◽  
Euler Method ◽  
End Effector ◽  
Feed Forward Control ◽  
Efficient Simulation ◽  
Body Dynamics ◽  
Multi Body ◽  
And Control ◽  
Manipulator Robot

Robot simulation has developed quickly in recent decades. Along with the development of computer science, a lot of simulation soft-wares have been created to perform many purposes such as studying kinematic, dynamic, and off-line program to avoid obstacle on manipulator robots. The main objective of this study is therefore to analyze kinematic, dynamic characteristics of an R-R robotic manipulator in order to control this robot. Newton-Euler method was used to calculate the torque acting on each joint of the robot. Then, a numerical model of the robot was established by a multi-body dynamics software to compare with the results obtained by Newton-Euler theory. After that, a feed-forward control system was created by RecurDyn/CoLink to control the end-effector of the robot following a desired trajectory. The results showed that this research can be used for efficient simulation of structural kinematics, dynamics as well as control of the real manipulator robot with the robot structure in a virtual environment.

Elastodynamic Analysis and Control of Industrial Robotic Manipulators With Piezoelectric-Material-Based Elastic Members

1995 ◽  
Vol 117 (4) ◽  
pp. 640-643 ◽  
Author(s):  
Seung-Bok Choi ◽  
B. S. Thompson ◽  
M. V. Gandhi
Keyword(s):  
Dynamic Modeling ◽  
Robotic Manipulators ◽  
Feedback Controller ◽  
Superior Performance ◽  
Element Formulation ◽  
Feedback Controllers ◽  
End Effector ◽  
Modeling And Control ◽  
And Control ◽  
Control Methodology

This technical brief addresses the dynamic modeling and control methodology to suppress structural deflections of industrial robotic manipulators featuring elastic members retrofitted with surface bonded piezoelectric actuators and sensors. The dynamic modeling is accomplished by developing a finite element formulation. The governing equation of motion is then modified by condensing the electric potential vectors, and subsequently two different feedback controllers are established: a constantgain feedback controller and a constant-amplitude feedback controller. Computer simulations are undertaken in order to demonstrate the superior performance characteristics, such as smaller deflections at the end-effector, to be accrued from the proposed methodology.

An Uncertainty-Attenuating Controller for Mechanical Manipulators with Electromechanical Dynamics: Part 2

1994 ◽  
Vol 208 (4) ◽  
pp. 215-219
Author(s):  
C L Teo ◽  
H A Zhu ◽  
G S Hong
Keyword(s):  
Dynamic Model ◽  
Feedback Linearization ◽  
Robotic Manipulators ◽  
Decoupling Control ◽  
Disturbance Decoupling ◽  
Control Scheme ◽  
Mechanical Manipulators ◽  
Mechanical Dynamics ◽  
Electromechanical Dynamics ◽  
And Control

Decoupling control of robotic manipulators, based on a dynamic model that includes both the mechanical dynamics of the links and the electrical dynamics of the joint motors, is studied in this paper. By using an algorithm of feedback linearization developed in this paper, the highly non-linear and strongly cross-coupled electromechanical system is decoupled and linearizd into a set of decoupled linear subsystems. Then, disturbance decoupling is further conducted for disturbance and uncertainty attenuation. It is shown that, by using the proposed control scheme, both modelling difficulty and control complexity of the manipulator system can be significantly reduced.

scholarly journals Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

Drones ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 71
Author(s):  
Luz M. Sanchez-Rivera ◽  
Rogelio Lozano ◽  
Alfredo Arias-Montano
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Test Bench ◽  
Aerodynamic Coefficients ◽  
Nonlinear Dynamic Model ◽  
Modeling And Control ◽  
Drag And Lift ◽  
And Control ◽  
Dynamics Method ◽  
Indoor And Outdoor

Hybrid Unmanned Aerial Vehicles (H-UAVs) are currently a very interesting field of research in the modern scientific community due to their ability to perform Vertical Take-Off and Landing (VTOL) and Conventional Take-Off and Landing (CTOL). This paper focuses on the Dual Tilt-wing UAV, a vehicle capable of performing both flight modes (VTOL and CTOL). The UAV complete dynamic model is obtained using the Newton–Euler formulation, which includes aerodynamic effects, as the drag and lift forces of the wings, which are a function of airstream generated by the rotors, the cruise speed, tilt-wing angle and angle of attack. The airstream velocity generated by the rotors is studied in a test bench. The projected area on the UAV wing that is affected by the airstream generated by the rotors is specified and 3D aerodynamic analysis is performed for this region. In addition, aerodynamic coefficients of the UAV in VTOL mode are calculated by using Computational Fluid Dynamics method (CFD) and are embedded into the nonlinear dynamic model. To validate the complete dynamic model, PD controllers are adopted for altitude and attitude control of the vehicle in VTOL mode, the controllers are simulated and implemented in the vehicle for indoor and outdoor flight experiments.

Sign in / Sign up

Export Citation Format

Share Document