scholarly journals Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control

2020 ◽  
Vol 2020 ◽  
pp. 1-15 ◽  
Author(s):  
Minqiang Shao ◽  
Yuming Huang ◽  
Vadim V. Silberschmidt
Keyword(s):  
Mass Matrix ◽  
Control Design ◽  
Joint Modeling ◽  
Fe Model ◽  
Output Function ◽  
Flexible Link ◽  
Flexible Joint ◽  
Lqr Controller ◽  
Simulation Results ◽  
Improved Model

This paper presents a finite-element (FE) model of a manipulator with a flexible link and flexible joint as well as embedded PZT actuators and proposes a corrected rebuilt reduced model (CRRM) to make its dynamic characteristics more consistent with reality and facilitate control design. The CRRM considers the holding torque of the manipulator driving motor and eliminates the response divergence induced by a fault of the mass matrix of the FE model. In order to reduce the dimensions and maintain the precision of the model, an iterated improved reduction system (IIRS) method is adopted. Additionally, a LQR controller is designed based on the output function of the improved model. The simulation results demonstrate that the CRRM is consistent with reality and the active controller has good performance in suppressing vibration of the manipulator with both the flexible link and the flexible joint.

scholarly journals Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation

2010 ◽  
Vol 2010 ◽  
pp. 1-14 ◽  
Author(s):  
Mohammad Ali Badamchizadeh ◽  
Iraj Hassanzadeh ◽  
Mehdi Abedinpour Fallah
Keyword(s):  
Initial Conditions ◽  
Covariance Matrices ◽  
Flexible Joints ◽  
Velocity Measurements ◽  
Lagrange Equations ◽  
Robust Nonlinear Control ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Simulation Results

Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both observers are designed for the same model and run with the same covariance matrices under the same initial conditions. A five-bar linkage robot with revolute flexible joints is considered as a case study. Simulation results verify the effectiveness of the proposed filters.

An improved model on forecasting temperature rise of high-speed angular contact ball bearings considering structural constraints

2018 ◽  
Vol 70 (1) ◽  
pp. 15-22 ◽  
Author(s):  
De-xing Zheng ◽  
Weifang Chen ◽  
Miaomiao Li
Keyword(s):  
Heat Generation ◽  
Temperature Rise ◽  
High Speed ◽  
Structural Constraints ◽  
Ball Bearings ◽  
Content Type ◽  
Grid Model ◽  
Simulation Results ◽  
Operation Parameters ◽  
Improved Model

Purpose Thermal performances are key factors impacting the operation of angular contact ball bearings. Heat generation and transfer about angular contact ball bearings, however, have not been addressed thoroughly. So far, most researchers only considered the convection effect between bearing housings and air, whereas the cooling/lubrication operation parameters and configuration effect were not taken into account when analyzing the thermal behaviors of bearings. This paper aims to analyze the structural constraints of high-speed spindle, structural features of bearing, heat conduction and convection to study the heat generation and transfer of high-speed angular contact ball bearings. Design/methodology/approach Based on the generalized Ohm’s law, the thermal grid model of angular contact ball bearing of high-speed spindle was first established. Next Gauss–Seidel method was used to solve the equations group by Matlab, and the nodes temperature was calculated. Finally, the bearing temperature rise was tested, and the comparative analysis was made with the simulation results. Findings The results indicate that the simulation results of bearing temperature rise for the proposed model are in better agreement with the test values. So, the thermal grid model established is verified. Originality/value This paper shows an improved model on forecasting temperature rise of high-speed angular contact ball bearings. In modeling, the cooling/lubrication operation parameters and structural constraints are integrated. As a result, the bearing temperature variation can be forecasted more accurately, which may be beneficial to improve bearing operating accuracy and bearing service life.

Comparison of Crash Test and Simulation Results for Impact of Silverado Pickup into New Jersey Barrier under Manual for assessing Safety Hardware

2012 ◽  
Vol 2309 (1) ◽  
pp. 114-126 ◽  
Author(s):  
Dhafer Marzougui ◽  
Cing-Dao (Steve) Kan ◽  
Kenneth S. Opiela
Keyword(s):  
New Jersey ◽  
Primary Objective ◽  
Crash Test ◽  
Fe Model ◽  
George Washington ◽  
Statistical Measures ◽  
Detailed Simulation ◽  
Analysis Center ◽  
Simulation Results ◽  
Concrete Barrier

The National Crash Analysis Center (NCAC) at the George Washington University simulated the crash of a 2,270-kg Chevrolet Silverado pickup truck into a standard 32-in. New Jersey shape concrete barrier under the requirements of Test 3–11 of the Manual for Assessing Safety Hardware (MASH). The new, detailed finite element (FE) model for the Chevrolet Silverado was used as the surrogate for the MASH 2270P test vehicle. An FE model of the New Jersey barrier was drawn from the array of NCAC hardware models. The primary objective of this analysis was to simulate the crash test conducted to evaluate how this commonly used, NCHRP 350–approved device would perform under the more rigorous MASH crashworthiness criteria. A secondary objective was to use newly developed verification and validation (V&V) procedures to compare the results of the detailed simulation with the results of crash tests undertaken as part of another project. The crash simulation was successfully executed with the detailed Silverado FE model and NCAC models of the New Jersey concrete barrier. Traditional comparisons of the simulation results and the data derived from the crash test suggested that the modeling provided viable results. Further comparisons employing the V&V procedures provided a structured assessment across multiple factors reflected in the phenomena importance ranking table. Statistical measures of the accuracy of the test in comparison with simulation results provided a more robust validation than previous approaches. These comparisons further confirmed that the model was able to replicate impacts with a 2270P vehicle, as required by MASH.

Nonlinear Control of Semi-Active MacPherson Suspension System

2012 ◽  
Author(s):  
Olugbenga M. Anubi ◽  
Carl D. Crane
Keyword(s):  
Closed Loop ◽  
Control Design ◽  
Mr Damper ◽  
Suspension System ◽  
Time Domain Simulation ◽  
Closed Loop System ◽  
Output Feedback Controller ◽  
Space Frequency ◽  
Simulation Results ◽  
Active Damper

This paper presents the control design and analysis of a non-linear model of a MacPherson suspension system equipped with a magnetorheological (MR) damper. The model suspension considered incorporates the kinematics of the suspension linkages. An output feedback controller is developed using an ℒ2-gain analysis based on the concept of energy dissipation. The controller is effectively a smooth saturated PID. The performance of the closed-loop system is compared with a purely passive MacPherson suspension system and a semi-active damper, whose damping coefficient is tunned by a Skyhook-Acceleration Driven Damping (SH-ADD) method. Simulation results show that the developed controller outperforms the passive case at both the rattle space, tire hop frequencies and the SH-ADD at tire hop frequency while showing a close performance to the SH-ADD at the rattle space frequency. Time domain simulation results confirmed that the control strategy satisfies the dissipative constraint.

Dynamics Equations of Robots Mounted on Moving Bases

1991 ◽  
Author(s):  
R. W. Toogood
Keyword(s):  
Angular Velocity ◽  
Control Systems ◽  
Linear Acceleration ◽  
Computer Code ◽  
Dynamics Simulation ◽  
Simulation Studies ◽  
Flexible Link ◽  
Paper Briefly ◽  
Simulation Results ◽  
Simplification Techniques

Abstract A number of programs have been developed for the automatic symbolic generation of efficient computer code for the dynamic analysis of serial rigid and flexible link manipulators. Code for both the inverse and the direct dynamics computations can be generated. The symbolic generators allow the robot base to be given an arbitrary linear acceleration anchor angular velocity and acceleration. The efficiency of the generated code is an important consideration for simulation studies and/or implementation in control systems. This paper briefly describes the symbolic generation and simplification techniques. The added computational load due to including the base motion is discussed. Some dynamics simulation results are presented for a 3R rigid link manipulator mounted on an oscillating base, which graphically illustrates the effect of the base movement on the dynamics.

On the Properties of a Dynamic Model of Flexible Robot Manipulators

1998 ◽  
Vol 120 (1) ◽  
pp. 8-14 ◽  
Author(s):  
Marco A. Arteaga
Keyword(s):  
Dynamic Model ◽  
Structural Properties ◽  
Robot Manipulators ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Control Design ◽  
Flexible Manipulator ◽  
Robot Dynamics ◽  
Flexible Link ◽  
Flexible Robot

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

Modeling and Control of a 1-D Membrane Strip With an Integrated PZT Bimorph

Aerospace ◽  
2005 ◽  
Author(s):  
Eric J. Ruggiero ◽  
Daniel J. Inman
Keyword(s):  
Thin Strip ◽  
Effective Control ◽  
Fe Model ◽  
Modeling And Control ◽  
Mission Success ◽  
Lqr Controller ◽  
Membrane Sample ◽  
Strip Sample ◽  
Minimal Mass ◽  
Membrane Strip

Ultra-lightweight, ultra-large and deployable satellite technology is at the forefront of research efforts for future on-orbit reconnaissance missions. The minimal mass and stowage volume associated with the technology are attractive traits for getting larger bandwidth satellites on-orbit. One of the key components for such a satellite is the membrane lens or aperture for optical or radar applications, and understanding the membrane’s dynamics is critical for mission success. As either an optical reflector or radar antenna, the vibration levels of the membrane must be minimized and eliminated. This work examines the possibility of integrating a PZT bimorph near the boundary of a strip sample to eliminate detrimental vibration. By starting with a 1-D model, the dominant governing phenomena of the system dynamics can be established and used to build more complex models with confidence. A physics-based finite element (FE) model of a thin strip of Kapton HN material with a monolithic PZT bimorph bonded near a boundary is developed in a MatLab environment and verified experimentally. The membrane strip under tension is modeled as a beam under axial load. In doing so, the FE model is able to capture the relevant transverse dynamics of the experimental setup. Having verified the FE model, an LQR controller is developed and simulated to demonstrate effective control over the transverse dynamics of the membrane sample.

scholarly journals Design and simulate of LQR-Fuzzy controller for unicycle robot with double flywheels

2018 ◽  
Vol 192 ◽  
pp. 02001 ◽  
Author(s):  
Surachat Chantarachit
Keyword(s):  
Angular Momentum ◽  
Inverted Pendulum ◽  
Fuzzy Controller ◽  
Taylor Series Expansion ◽  
Lagrange Equations ◽  
Main Structure ◽  
Structure Control ◽  
Controller Gain ◽  
Lqr Controller ◽  
Simulation Results

This research is focus on design and simulate unicycle robot with double flywheels model with LQR-Fuzzy controller. Roll balancing torque is generated by gyroscopic effect. Pitch balancing torque is applied by inverted pendulum concept. To control the heading of the robot, the angular momentum from both flywheel is applied to control this. The robot model is based on Euler-Lagrange equations. The non-linear model is linearization by Taylor series expansion. The simulation results conducted by MATLAB/Simulink. LQR-Fuzzy is combination algorithm between LQR and Fuzzy controller. The main structure control is the LQR controller and use the Fuzzy controller to adjust the close loop controller gain. The simulation results is simulated and compared with conventional LQR.

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