Abstract-This paper is concerned with the synthesis of dynamic model of the redundant manipulator robot based on Linear Parameter Varying approach. To evaluate its behavior and in presence of external disturbance several motions profiles are developed using a new algorithm which produce smooth trajectories in optimal time. The main advantages of this proposed approach are its robustness and its simplicity with respect to the flexibility structure, to the motion profile and mass load variations. Numerical simulations with several tasks show that in presence of mass load variation the desired trajectory is more efficiently followed by the LPV model than the dynamic model of the studied mechanism. Its performances are ensured using the smoothest trajectory designed by the Eighth-degree polynomial profile than the Fifth-degree polynomial one and the trapezoidal one.
This paper deals with the problem of trajectory generation with a motion law in joint space for a flexible singlelink manipulator. To this aim, we propose a smooth motion profile based on polynomial function for a flexible manipulator. This motion law is tested with a dynamic model of the manipulator that is controlled using a model-free approach so that the robot can follow the desired trajectory.
Abstract-The purpose of this paper is to develop a dynamic model of a rigid-flexible manipulator robot with a load on its endpoint using Euler-Lagrange formulation. In order to test the performance of the studied system, several mathematical functions are used as motion profile. It choice is very important because it affects the robot's performance. Different factors intervene in this choice. However, the most important is the torque's continuity and the movement's smoothness. Numerical simulations show the robustness of the dynamic model of the studied system for several motions profiles.
Abstract-This paper focuses on the issue of tracking the trajectory of a flexible arm. The purpose is to ensure the flexible arm follows the desired path in the joint space. To achieve our objective, we have three problems to solve: modeling, control, and trajectory planning. As in the case of rigid robots, the EulerLagrange formulation remains valid with the exception of dividing the flexible arm into a finite number of elements to model the deformation. The iterative learning control scheme can be used to achieve perfect tracking throughout the movement period, a sufficient condition based on the bounded real lemma that guarantees the convergence error between iteration is given. All the results are presented in terms of linear matrix inequalities synthesis (LMIs).
This article discusses the development of a new control strategy that merges an ultra-local model control with an auto-tuning PID control applied to a flexible mechanism with an endpoint load. This will help obtain a suitable control system to well manage the behavior of this flexible structure. The proposed approach uses an ultralocal model control, which consists of locally modeling such a system that is instantly updated only from the knowledge of the input and output system then estimating its parameter via an algebraic derivation approach. And then of auto-tuning PID control which consists on automatically tuning the PID controller's gains using the pole placement technique. In order to evaluate the robustness and efficiency of the proposed approach against the internal vibration of the flexible structure and to the external distribution, the new control has been applied to a flexible manipulator robot using several motion profiles. Results are presented and discussed which illustrate the validity of the proposed control strategy that has been carried out in the presence of internal vibration and several inputs.
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