Automation and cybernetics: control of a flexible one‐link manipulator

Abstract

States that control is of the essence in cybernetics. Summarizes the dynamic equations for a flexible one‐link manipulator moving in the horizontal plane. Employs the finite element method, based on elementary beam theory, during the process of formulation. Develops and instruments a one‐link flexible manipulator in order to control its vibration modes. Uses a simple second‐order vibration model which permits vibrations on the rod to be estimated using the hub angle. The validation of the dynamic model and the structural analysis of the flexible manipulator is reached using proper infrared cameras and active light sources for determining actual positions of objects in space. Shows that the performance of the control is satisfactory, even under perturbation action.

A planar flexible robotic manipulator

“…In modelling and controlling of this kind of manipulator the flexibility of their members must be considered (Book, 1984;Sunada and Dubowsky, 1983;Chang and Hamilton, 1991;Gamarra-Rosado and Zampieri, 1997;Gamarra-Rosado et al, 1996). The purpose of this work is to obtain a dynamic model for the design and control of a flexible robotic manipulator.…”

Dynamic modeling and simulation of a flexible robotic manipulator

“…That is, due to the flexibility the position controller of the flexible manipulator must be able to control the motion of the rigid-body mode of the arm and to suppress its vibration modes. 5 The purpose of this work is to obtain a dynamic model for the design and control of a flexible robotic manipulator. The dynamic model will completely describe motions of a manipulator with flexible links, including large motions, small motions, and their interactions.…”