Modeling and Control of Active End Effector for the AFM Based Nano Robotic Manipulators

2006 ◽  
Author(s):  
Jiangbo Zhang ◽  
Guangyong Li ◽  
Ning Xi
Keyword(s):  
Robotic Manipulators ◽  
End Effector ◽  
Modeling And Control ◽  
And Control

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.

Nonlinear PD Control of a Long-Span Cable-Supporting Manipulator in Quasi-Static Motion

2011 ◽  
Vol 134 (1) ◽  
Author(s):  
Jingli Du ◽  
Hong Bao ◽  
Chuanzhen Cui ◽  
Xuechao Duan
Keyword(s):  
Radio Telescope ◽  
Field Model ◽  
End Effector ◽  
Modeling And Control ◽  
Numerical Examples ◽  
Cable Length ◽  
Long Span ◽  
Length Increment ◽  
And Control ◽  
Control Output

This paper addresses modeling and control of a cable-supporting manipulator serving as the feed supporting structure of a large radio telescope. The manipulator consists of six long cables so that their curves must be considered. The end-effector is prone to vibration due to the long-span cables even if cable lengths can change perfectly just as they are expected. To deal with this problem, a feedback controller in the workspace is devised, in which the effects of both the cable length error and the pose error of the end-effector are taken into account. A controller is first devised for the resultant cable wrench exerted on the end-effector. Then the incremental relationship between the cable end force and the cable length together with the displacements of the end-effector is deduced. Combining this relationship, we convert the controller into a nonlinear one with cable length increment as the control output, which can be readily utilized in the manipulator. Numerical examples and experiments carried out on a field model of dimension 50 m validate the positioning precision of the manipulator and we can conclude the feasibility of the proposed feed supporting system.

Modeling and Control of a Cable-Driven Robot for Inspection of Wide-Area Horizontal Workspaces

2016 ◽  
Author(s):  
Forrest Montgomery ◽  
Joshua Vaughan
Keyword(s):  
Parallel Manipulator ◽  
Large Scale ◽  
Parallel Manipulators ◽  
End Effector ◽  
Modeling And Control ◽  
Oscillatory Dynamics ◽  
Flexible Wire ◽  
Length Changes ◽  
Stiffness And Damping ◽  
And Control

Cable Driven Parallel Manipulators (CDPMs) utilize flexible wire to actuate an end-effector, allowing rapid accelerations across large workspaces. CDPMs are predominantly modeled with rigid cables, greatly simplifying the analysis. This model is satisfactory for small, fixed masses traveling short distances. However, as cable length increases, the flexibility of the cables, including the variation in stiffness and damping as length changes, cannot be ignored. In addition, the end-effector, which may be modeled as a pendulum, will rotate and contribute to the motion. This paper presents the modeling and control of a large-scale, cable-driven parallel manipulator, with application to inspection of large workspaces. The multi-degree-of-freedom model developed takes into account flexibility of cables and the oscillatory dynamics of the end effector. The dominant dynamics are identified and used to design a control system to limit vibration.

Modeling and control of new model in a spatial coordinates -3D- for cable-based robots

2015 ◽  
Vol 12 (2) ◽  
pp. 189-200 ◽  
Author(s):  
Fouad Inel ◽  
Billel Bouchmal ◽  
Lakhdar Khochmane
Keyword(s):  
Closed Loop ◽  
Geometric Model ◽  
Kinematic Model ◽  
End Effector ◽  
Modeling And Control ◽  
New Model ◽  
Spiral Trajectory ◽  
Spatial Coordinates ◽  
Point To Point ◽  
And Control

This paper presents a modeling and control of new model in a spatial coordinates (x, y, z), from this structures we choose: regular pyramid of a square basis manipulated by five cables and eight cables for a cubic shape. The main objective of this work is to integrate the axe (z) on the horizontal plane (x, y) i-e the plan 3D. This last their intervention especially when we obliged to transfer the end effector from point to point, for that we used the direct and inverse geometric model to study and simulate the end effector position of the robot with five and eight cables. A graphical user interface has been implemented in order to visualizing the position of the robot. Secondly, we present the desired path and determination the tensions and cables lengths of kinematic model required to follow spiral trajectory. At the end, we study the response of our systems in closed loop with a Proportional-Integrated-Derivative (PID) using MATLAB/Simulink which used to verify the performance of the controller.

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.

scholarly journals Modeling and Control of a Cable-Suspended Sling-Like Parallel Robot for Throwing Operations

2020 ◽  
Vol 10 (24) ◽  
pp. 9067
Author(s):  
Deng Lin ◽  
Giovanni Mottola ◽  
Marco Carricato ◽  
Xiaoling Jiang
Keyword(s):  
Mathematical Models ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Target Point ◽  
Inertial Effects ◽  
End Effector ◽  
Modeling And Control ◽  
And Control ◽  
Three Degrees Of Freedom

Cable-driven parallel robots can provide interesting advantages over conventional robots with rigid links; in particular, robots with a cable-suspended architecture can have very large workspaces. Recent research has shown that dynamic trajectories allow the robot to further increase its workspace by taking advantage of inertial effects. In our work, we consider a three-degrees-of-freedom parallel robot suspended by three cables, with a point-mass end-effector. This model was considered in previous works to analyze the conditions for dynamical feasibility of a trajectory. Here, we enhance the robot’s capabilities by using it as a sling, that is, by throwing a mass at a suitable time. The mass is carried at the end-effector by a gripper, which releases the mass so that it can reach a given target point. Mathematical models are presented that provide guidelines for planning the trajectory. Moreover, results are shown from simulations that include the effect of cable elasticity. Finally, suggestions are offered regarding how such a trajectory can be optimized.

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