Approximate Inertial Manifold‐Based Model Reduction and Vibration Suppression for Rigid‐Flexible Mechanical Arms

Xu, Lisha; Deng, Hua; Lin, Chong; Zhang, Yi

doi:10.1155/2021/8290978

Cited by 5 publications

(4 citation statements)

References 51 publications

(61 reference statements)

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“…According to the results of literature [7][8], we get the dynamic model of rigid flexible coupling manipulator as follows:…”

Section:  Andmentioning

confidence: 99%

Research on vibration suppression of rigid flexible coupling manipulators based on genetic algorithm optimization

Lin,

Liu,

2023

HSET

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Aiming at the problem that the rigid flexible coupling manipulator generates elastic vibration during movement, which reduces the positioning accuracy and work efficiency, we propose a method of end vibration suppression based on cosine function superposition and multi population genetic algorithm. First, we get the relationship between the elastic vibration of the flexible arm and the joint trajectory motion according to the dynamic model of the system. Then, the cosine function superposition is used as the basis function to construct motion parameters of joints and the minimum residual vibration amplitude at the end of the flexible arm is used as the objective function. The undetermined coefficients in the basis function are optimized by multi population genetic algorithm to obtain the optimal trajectory. Finally, the simulation and experiment results show that the residual vibration amplitude is reduced by 60.6%. The proposed method can suppress the residual vibration at the end of the flexible arm and improve the work efficiency.

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“…According to the results of literature [7][8], we get the dynamic model of rigid flexible coupling manipulator as follows:…”

Section:  Andmentioning

confidence: 99%

Research on vibration suppression of rigid flexible coupling manipulators based on genetic algorithm optimization

Lin,

Liu,

2023

HSET

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“…As shown in Figure 1, the dimensionality reduction model of the rigid-flexible robotic arm based on the approximate inertial manifold can be represented as (Xu et al, 2021a):…”

Section: Low-dimensional Model Of Rigid-flexible Robotic Arm Based On...mentioning

confidence: 99%

Fuzzy super twisting mode control of a rigid-flexible robotic arm based on approximate inertial manifold dimensionality reduction

Qian,

Xu,

Yuan

2023

Front. Neurorobot.

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IntroductionThe control of infinite-dimensional rigid-flexible robotic arms presents significant challenges, with direct truncation of first-order modal models resulting in poor control quality and second-order models leading to complex hardware implementations.MethodsTo address these issues, we propose a fuzzy super twisting mode control method based on approximate inertial manifold dimensionality reduction for the robotic arm. This innovative approach features an adjustable exponential non-singular sliding surface and a stable continuous super twisting algorithm. A novel fuzzy strategy dynamically optimizes the sliding surface coefficient in real-time, simplifying the control mechanism.ResultsOur findings, supported by various simulations and experiments, indicate that the proposed method outperforms directly truncated first-order and second-order modal models. It demonstrates effective tracking performance under bounded external disturbances and robustness to system variability.DiscussionThe method's finite-time convergence, facilitated by the modification of the nonlinear homogeneous sliding surface, along with the system's stability, confirmed via Lyapunov theory, marks a significant improvement in control quality and simplification of hardware implementation for rigid-flexible robotic arms.

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“…The dynamic model of the rigid-flexible manipulators system has two inputs and four outputs that belong to the underactuated system. According to the input/output linearization method [64,65], the input and output subsystem of the rigid-flexible manipulators can be written as:…”

Section: Linearization Of the Input And Output Subsystemsmentioning

confidence: 99%

Low-Dimensional-Approximate Model Based Improved Fuzzy Non-Singular Terminal Sliding Mode Control for Rigid-Flexible Manipulators

Qian

et al. 2022

Electronics

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The dynamic characteristics of rigid-flexible manipulators involve complex rigid-flexible coupling phenomena, which essentially comprise a nonlinear distributed parameter system with infinite degrees of freedom. Consequently, it results in challenges to the manipulator’s precise positioning. This study combined a state feedback module and a fuzzy non-singular terminal sliding mode to suppress vibration and deformation. Using the improved fuzzy strategy and non-singular terminal sliding mode control, an adaptive dynamic supplementary control law is proposed. The results based on MATLAB simulation and a built hardware experiment show that this method is effective and superior. While realizing the accurate positioning of the end of the manipulator, the vibration of the end of the flexible arm is significantly suppressed. This method has a high tracking performance, which enables accurate positioning of the manipulator terminal and provides strong robustness under the action of bounded external interference.

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Approximate Inertial Manifold‐Based Model Reduction and Vibration Suppression for Rigid‐Flexible Mechanical Arms

Cited by 5 publications

References 51 publications

Research on vibration suppression of rigid flexible coupling manipulators based on genetic algorithm optimization

Research on vibration suppression of rigid flexible coupling manipulators based on genetic algorithm optimization

Fuzzy super twisting mode control of a rigid-flexible robotic arm based on approximate inertial manifold dimensionality reduction

Low-Dimensional-Approximate Model Based Improved Fuzzy Non-Singular Terminal Sliding Mode Control for Rigid-Flexible Manipulators

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