Approaches for dynamic modelling of flexible manipulator systems

Martins, Jorge; Mohamed, Zulkifli; Tokhi, M. O.; Costa, José Sá da; Botto, Miguel Ayala

doi:10.1049/ip-cta:20030496

Cited by 110 publications

(51 citation statements)

References 9 publications

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“…A good agreement between modelling and experiments has been achieved [2]. Zhou et.al [3] presents the neural network online modelling technology to approximate the system uncertain model a space manipulator.…”

Section: Introductionmentioning

confidence: 97%

System Identification and LMI Based Robust PID Control of a Two-Link Flexible Manipulator

2014

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This paper presents investigations into the development of a linear matrix inequalities (LMI) based robust PID control of a nonlinear Two-Link Flexible Manipulator (TLFM) incorporating payload. A set of linear models of a TLFM is obtained by using system identification method in which the Keywords: LMI, PID, system identification, two-link flexible manipulator IntroductionFlexible manipulator robots are used in a wide spectrum of applications starting from simple pick and place operations of an industrial robot to micro-surgery, maintenance of nuclear plants and space robotics [1]. Moreover, the dynamic behaviour of the manipulator is significantly affected by payload variations. If the advantages associated with lightness are not to be sacrificed, accurate models and efficient controllers for a TLFM have to be developed.The main goal of modelling of a TLFM is to achieve an accurate model representing the actual system behaviour. A good agreement between modelling and experiments has been achieved [2]. Zhou et.al [3] presents the neural network online modelling technology to approximate the system uncertain model a space manipulator. Dogan and Istefanopulos [4] have developed the finite element models to describe the deflection of a planar two-link flexible robot manipulator. De Luca and Siciliano [5] have utilised the AMM to derive a dynamic model of multilink flexible robot arms limiting to the case of planar manipulators with no torsional effects. Subudhi and Morris [6] have also presented a systematic approach for deriving the dynamic equations for n-link manipulator where two-homogenous transformation matrices are used to describe the rigid and flexible motions respectively.Newly emerging technique for optimising the controller parameters is the use at linear matrix inequalities (LMI). The works in formulating set of LMIs to overcome the effect on mismatched uncertainties in dynamic system has also surfaced in the literatures [7]. Since LMIs can be solved efficiently by standard numerical algorithms, this has prompted a great number of researchers to describe different control problems in terms of LMIs [8]. Bevrani and Hiyama [9] presented an LMI based robust control to maintain the robust performance and minimize the effect of disturbance and specified uncertainties of power system stabilizers.On the other hand, the important feature of LMI based robust PID design approach is that the derivative term at the controller appears in such a form that enables to consider the model uncertainties, to be considered in the design. Assuming the structured feedback matrix, this approach is appropriate for decentralized PID control design. The guaranteed cost control presented with a new quadratic cost function including the derivative term for state vector as a tool to influence the overshoot and response rate [10]. Using LMI approach to design a robust PID controller presented [11], [12], [13]. On other hand, Liang et.al [14] implemented a fuzzy adaptive PID controller whose duty is to make sure the uncert...

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Section: Introductionmentioning

confidence: 97%

System Identification and LMI Based Robust PID Control of a Two-Link Flexible Manipulator

2014

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“…Flexible robot manipulators exhibit several advantages over the rigid link manipulators as they require less material, are lighter in weight, have higher manipulation speed, lower power consumption, require smaller actuators, are more manoeuvrable and transportable, have less overall cost and higher payload to robot weight ratio (Martins et al, 2003). However, the control of flexible manipulators to maintain accurate positioning is a challenging problem.…”

Section: Introductionmentioning

confidence: 99%

Vibration Suppression Techniques in Feedback Control Loop of a Flexible Robot Manipulator

Ahmad¹,

Mohamed²

2008

MAS

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This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS), Linear Quadratic Regulator (LQR) and Proportional-Derivative (PD) controller are the techniques used in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of the controller are examined in terms of vibration suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

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“…�ang [8] presented a modal data-based method to estimate the dynamic response of an elastic robotic manipulator. Martins et al [9] conducted experiments for a single-link elastic robotic manipulator to validate their suggested FEM based analytical model. More experimental testbed for vibration control of elastic robotic arm can be found in the investigation of Ladkany [10] and Peza Solis et al [11].…”

Section: Introductionmentioning

confidence: 99%

Estimate a Flexible Link’s Shape by the Use of Strain Gauge Sensors

2013

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is paper presents a method for estimating the �exible link's shape by �nite number of sensors. e position and orientation of �exible link are expressed as a function of curvature of the link. An interpolation technique gives this continuous curvature function from a �nite set of the �heatstone bridge made with strain gauges. For interpolation we can use different functions to �nd better way for estimation of link's shape. Comparison between different types of function can show us best corresponding with nature of the link. �ur case study is a single �exible link robot. A high-precision data logger is used as data acquisition instrument.

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Approaches for dynamic modelling of flexible manipulator systems

Cited by 110 publications

References 9 publications

System Identification and LMI Based Robust PID Control of a Two-Link Flexible Manipulator

System Identification and LMI Based Robust PID Control of a Two-Link Flexible Manipulator

Vibration Suppression Techniques in Feedback Control Loop of a Flexible Robot Manipulator

Estimate a Flexible Link’s Shape by the Use of Strain Gauge Sensors

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