Dynamic modeling and adaptive control of a single-link flexible manipulator

1989 ◽  
Vol 12 (6) ◽  
pp. 838-844 ◽  
Author(s):  
Jerzy Z. Sasiadek ◽  
Ramesh Srinivasan
Keyword(s):  
Adaptive Control ◽  
Dynamic Modeling ◽  
Flexible Manipulator ◽  
Single Link

Influence of backlash in gear reducer on dynamic of single-link manipulator arm

Robotica ◽  
2014 ◽  
Vol 33 (08) ◽  
pp. 1671-1685 ◽  
Author(s):  
Jian-Wei Lu ◽  
Xiao-Ming Sun ◽  
Alexander F. Vakakis ◽  
Lawrence A. Bergman
Keyword(s):  
Dynamic Response ◽  
Dynamic Modeling ◽  
Excitation Frequency ◽  
Planetary Gear ◽  
Flexible Manipulator ◽  
Lumped Mass ◽  
Modeling And Control ◽  
Single Link ◽  
Manipulator Arm ◽  
And Control

SUMMARYThe dynamic modeling of a flexible single-link manipulator arm with consideration of backlash in the planetary gear reducer at the joint is presented, and the influence of backlash on the dynamic response of the system is evaluated. A 2K-H planetary gear reducer with backlash was employed as an example to discuss the dynamic modeling of the sub-model of the planetary gear reducer, and the sub-model of the planetary gear reducer was established based on the lumped mass method. The flexible manipulator was regarded as an Euler--Bernoulli beam, and the dynamic model of the flexible manipulator arm with backlash in the planetary gear reducer was determined from Lagrange's equations. Based on the this model, the influence of the backlash in the planetary gear reducer and excitation frequency on the dynamic response of the system were evaluated through simulation, and the results showed that the dynamic response of the system is sensitive to the backlash and the excitation frequency simultaneously, which provides a theoretical foundation for improvement of dynamic modeling and control of the flexible manipulator arm.

Adaptive control of a single-link flexible manipulator with unknown load

1991 ◽  
Vol 138 (2) ◽  
pp. 153 ◽  
Author(s):  
Tzung-Cheng Yang ◽  
Jackson C.S. Yang ◽  
Prabhakar Kudva
Keyword(s):  
Adaptive Control ◽  
Flexible Manipulator ◽  
Single Link ◽  
Unknown Load

scholarly journals Adaptive control of a single-link flexible manipulator

1990 ◽  
Vol 10 (2) ◽  
pp. 29-33 ◽  
Author(s):  
V. Feliu ◽  
K.S. Rattan ◽  
H.B. Brown
Keyword(s):  
Adaptive Control ◽  
Flexible Manipulator ◽  
Single Link

Load-adaptive control of a single-link flexible manipulator

1992 ◽  
Vol 22 (1) ◽  
pp. 85-91 ◽  
Author(s):  
T.-C. Yang ◽  
J.C.S. Yang ◽  
P. Kudva
Keyword(s):  
Adaptive Control ◽  
Flexible Manipulator ◽  
Single Link

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.

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