Modelling of a single-link flexible manipulator system: Theoretical and practical investigations

2011 ◽  
pp. 23-46 ◽  
Author(s):  
A. Azad ◽  
M. Tokhi
Keyword(s):  
Practical Investigations ◽  
Flexible Manipulator ◽  
Single Link

Modelling of a single-link flexible manipulator system: theoretical and practical investigations

Robotica ◽  
1996 ◽  
Vol 14 (1) ◽  
pp. 91-102 ◽  
Author(s):  
M. O. Tokhi ◽  
A. K. M. Azad
Keyword(s):  
Expansion Method ◽  
Practical Investigations ◽  
Flexible Manipulator ◽  
Experimental Investigations ◽  
Model Parameters ◽  
Modal Expansion ◽  
Modal Expansion Method ◽  
Lagrange’S Equation ◽  
Equivalent Time ◽  
Single Link

SummaryThis paper presents theoretical and experimental investigations into modelling a single-link flexible manipulator system. An analytical model of the manipulator, characterised by an infinite number of modes, is developed using the Lagrange's equation and modal expansion method. This is used to develop equivalent time-domain and frequency-domain working models of the system in state-space and transfer function forms respectively. The model parameters are then estimated experimentally using system's measured input/output data. The model thus obtained is validated through experimentation and results including the effect of payload on system characteristics presented and discussed.

Vibration Control of a Flexible Link Manipulator Using an Array of Fiber-Optic Curvature Sensors and Piezoelectric Actuators

2007 ◽  
Author(s):  
Kerem Gurses ◽  
Bradley J. Buckman ◽  
Edward J. Park
Keyword(s):  
Motion Control ◽  
Sensor Array ◽  
Fiber Optic ◽  
Element Model ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Velocity Feedback ◽  
Lyapunov Approach ◽  
Single Link ◽  
Actuator Control

This paper presents a novel feedback sensing approach for actively suppressing vibrations of a single-link flexible manipulator. Slewing of the flexible link by a rotating hub induces vibrations in the link that persist long after the hub stops rotating. These vibrations are suppressed through a combined scheme of PD-based hub motion control and proposed piezoelectric (PZT) actuator control, which is a composite linear and velocity feedback controller. Lyapunov approach was used to synthesize the controller based on a finite element model of the system. Its realization was possible due to the availability of both linear and angular velocity feedback provided by a unique, commercially-available fiber optic curvature sensor array, called ShapeTape™. It is comprised of an array of fiber optic curvature sensors, laminated on a long, thin ribbon tape, geometrically arranged in such a way that, when it is embedded into the flexible link, the bend and twist of the link’s centerline can be measured. Experimental results show the effectiveness of the proposed approach.

scholarly journals Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

2021 ◽  
Vol 162 ◽  
pp. 104347
Author(s):  
Lewei Tang ◽  
Marc Gouttefarde ◽  
Haining Sun ◽  
Lairong Yin ◽  
Changjiang Zhou
Keyword(s):  
Vibration Suppression ◽  
Dynamic Modelling ◽  
Flexible Manipulator ◽  
Single Link

Resonant Control of a Single-Link Flexible Manipulator

2014 ◽  
Vol 67 (5) ◽  
Author(s):  
Auwalu M. Abdullahi ◽  
Z. Mohamed ◽  
Marwan Nafea M.
Keyword(s):  
Feedback Control ◽  
Flexible Manipulator ◽  
Control Loop ◽  
Vibration Effect ◽  
System A ◽  
Resonant Modes ◽  
Single Link ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
Resonant Control

This paper presents resonant control of a single-link flexible manipulator based on the resonant modes frequencies of the system. A flexible manipulator system is a single-input multi-output (SIMO) system with motor torque as an input and hub angle and the tip deflection as outputs. The previous system which is modeled using the finite element method is considered, and the resonant modes of the system are determined. Two negative feedback controllers are used to control the system. The inner feedback control loop designed using the resonant frequencies adds damping to the system and suppress the vibration effect around the hub angle. For the outer feedback control loop, a proportional integral controller is designed to achieve a zero steady state error so that a precise tip positioning can be achieved. Simulation results are presented and discussed to show the effectiveness of the resonant control scheme. 

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