A review on two-link flexible manipulators

Lochan, Kshetrimayum; Roy, Binoy Krishna; Subudhi, Bidyadhar

doi:10.1016/j.arcontrol.2016.09.019

Cited by 125 publications

(70 citation statements)

References 102 publications

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“…The use of FEM approach for the dynamic modelling of flexible multibody systems was discussed by Geradin & Cardona (2001). Lochan et al (2016) discussed advantages of FEM in dynamic modelling of a flexible robot, and it was showed that the main advantage of FEM over the other methods is that the connections in FEM are supposed to be clamped free, with at least two modes shape per link. Another advantage of FEM over analytical solution methods is that it is capable of handling nonlinear conditions easily.…”

Section: A Brief Literature Review and Related Workmentioning

confidence: 99%

An efficient finite element formulation of dynamics for a flexible robot with different type of joints

Bien

et al. 2019

Mechanism and Machine Theory

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If two adjacent links of a flexible robot are connected via a revolute joint or a fixed prismatic joint, the relative motion of the next link will depend on both the joint motion and the elastic displacement of the distal end of the previous link. However, if the two adjacent links are connected via a sliding prismatic joint, the relative motion of the next link will depend additionally on the elastic deformation distributed along the previous link. Therefore, formulation of the motion equations for a multi-link flexible robot consisting of the revolute joints, the fixed prismatic joints and the sliding prismatic joints is challenging. In this study, the finite element kinematic and dynamic formulation was successfully developed and validated for the flexible robot, in which a transformation matrix is proposed to describe the kinematics of both the joint motion and the link deformation. Additionally, a new recursive formulation of the dynamic equations is introduced. As compared with the previous methods, the time complexity of the formulation is reduced by O(2η), where η is the number of finite elements on all links. The numerical examples and experiments were implemented to validate the proposed kinematic and dynamic modelling method.

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Section: A Brief Literature Review and Related Workmentioning

confidence: 99%

An efficient finite element formulation of dynamics for a flexible robot with different type of joints

Bien

et al. 2019

Mechanism and Machine Theory

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“…As a result of this type of under-actuation, it is more difficult to design suitable laws to control FLMs than to control rigid arm manipulator. Lochan et al (2016a) described additional complexities involved in the flexible manipulator, including the problem of controller/observer spillover due to model truncation.…”

Section: Introductionmentioning

confidence: 99%

Review on Modeling and Control of Flexible Link Manipulators

Subedi¹,

Tyapin²,

Hovland³

2020

MIC

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This paper presents a review of dynamic modeling techniques and various control schemes to control flexible link manipulators (FLMs) that were studied in recent literature. The advantages and complexities associated with the FLMs are discussed briefly. A survey of the reported studies is carried out based on the method used for modeling link flexibility and obtaining equations of motion of the FLMs. The control techniques are reviewed by classifying them into two main categories: model-based and model-free control schemes. The merits and limitations of different modeling and control methods are highlighted.

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“…Over the past 30 years, study on dynamics and control of flexible robot manipulators has attracted much attention of researchers [1][2][3][4][5][6][7][8]. Several authors summarized the studies on flexible robot manipulators [9][10][11][12][13][14][15][16], which have evaluated the development process of flexible manipulators from 1983 to 2016.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Sliding Mode Control for a Single Flexible Manipulator

Hoang

Son

2019

JST

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This paper concerns with modeling and control of a single flexible manipulator (SFM). The finite element method (FEM) and Lagrangian equations are exploited to establish the dynamic modeling of SFM. Firstly, the Jacobian matrix is built based on kinematic analysis. Then it is used in construction of a mass matrix for each element. The position and vibration of SFM are controlled by sliding mode controller (SMC). Its parameters are chosen by linearized equations to guarantee the stability of the system. The numerical simulation is carried out to show the efficiency of the proposed approach.

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A review on two-link flexible manipulators

Cited by 125 publications

References 102 publications

An efficient finite element formulation of dynamics for a flexible robot with different type of joints

An efficient finite element formulation of dynamics for a flexible robot with different type of joints

Review on Modeling and Control of Flexible Link Manipulators

Modeling and Sliding Mode Control for a Single Flexible Manipulator

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