Experimental Control of Flexible Robot Manipulators

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.

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Dynamic Analysis of Flexible Manipulator Arms With Distributed Viscoelastic Damping

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2802399 ◽

1997 ◽

Vol 119 (4) ◽

pp. 831-833 ◽

Cited By ~ 1

Author(s):

Fan Zijie ◽

Lu Bingheng ◽

C. H. Ku

Keyword(s):

Finite Element ◽

Dynamic Response ◽

Dynamic Analysis ◽

Virtual Work ◽

Robot Manipulators ◽

Flexible Manipulator ◽

Viscoelastic Damping ◽

Principle Of Virtual Work ◽

Flexible Robot ◽

Damping Treatments

The main objective of this work is to predict the effect of distributed viscoelastic damping on the dynamic response of multilink flexible robot manipulators. A general approach, based on the principle of virtual work, is presented for the modeling of flexible robot arms with distributed viscoelastic damping. The finite element equations are developed, and a recurrence formulation for numerical integration of these equations is obtained. It is demonstrated, by a numerical example, that the viscoelastic damping treatments have a significant effect on the dynamic response of flexible robot manipulators.

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Dynamic Modeling of Flexible Robot Manipulators: Acceleration-Based Discrete Time Transfer Matrix Method

Recent Advances in Mechanism Design for Robotics - Mechanisms and Machine Science ◽

10.1007/978-3-319-18126-4_36 ◽

2015 ◽

pp. 377-386 ◽

Cited By ~ 2

Author(s):

Rasmus Srensen ◽

Mathias Rahbek Iversen ◽

Xuping Zhang

Keyword(s):

Transfer Matrix ◽

Dynamic Modeling ◽

Discrete Time ◽

Transfer Matrix Method ◽

Matrix Method ◽

Robot Manipulators ◽

Time Transfer ◽

Flexible Robot

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Design Process of High Dynamics Multi-Link Flexible Robot Manipulators

Volume 5A: 41st Mechanisms and Robotics Conference ◽

10.1115/detc2017-67721 ◽

2017 ◽

Author(s):

Thomas Solatges ◽

Mathieu Rognant ◽

Sébastien Rubrecht ◽

Eric Courteille ◽

Philippe Bidaud

Keyword(s):

Design Process ◽

Performance Indicators ◽

Robot Manipulators ◽

Experimental Results ◽

Control Architecture ◽

Flexible Robot ◽

Flexible Robots ◽

Modeling Tool ◽

And Performance ◽

High Dynamics

This paper presents a design process based on an advanced flexible robots modeling tool associated with realistic actuators models and pre-defined control architecture. This process implements dedicated feasibility and performance indicators, which are used to evaluate a design and its sensitivity on the considered parameters. The proposed approach is illustrated with theoretical and experimental results obtained with the YAKA robot.

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