Classical Dynamics

Compared with robotic hands with a rigid palm, the metamorphic hand with a reconfigurable palm can alter the palm geometry to relocate the fingers before executing grasping tasks. The stability of dynamics coming with the reconfigurable palm has to be taken into account due to its crucial impact on the performance of the hand. This paper presents the stability analysis of this reconfigurable palm based on its Takagi-Sugeno (T-S) fuzzy model. The dynamic model of the metamorphic palm is developed based on the Euler Lagrangian dynamic theory and the closedchain kinematic constraints. To reduce the conservativeness in stability analysis and ensure a wider range of stable dynamic performance, a membership-dependent approach is applied to the stability analysis of palm control system. Simulation is provided to demonstrate the achieved improvement of analysis results.

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“…Thus from (Ghorbel et al (2000); Greenwood (1977)), the Euler-Lagrangian dynamic equation can be expressed as…”

Section: Lagrangian Methods Based Dynamic Modeling Of the Partial Recomentioning

confidence: 99%

Fuzzy Model Based Stability Analysis of the Metamorphic Robotic Palm

et al. 2017

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“…Then, by applying the extended Hamilton principle [22], the dynamic equations of the beam will be derived.…”

Section: B Dynamics Of the Beammentioning

confidence: 99%

Robust Control of Collaborative Manipulators - Flexible Object System

Esakki

Bhat

2013

International Journal of Advanced Robotic Systems

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In many manufacturing and automobile industries, flexible components need to be positioned with the help of coordinated operations of manipulators. This paper deals with the robust design of a control system for two planar rigid manipulators moving a flexible object in the prescribed trajectory while suppressing the vibration of the flexible object. Dynamic equations of the flexible object are derived using the Hamiltonian principle, which is expressed as a partial differential equation (PDE) with appropriate boundary conditions. Then, a combined dynamics is formulated by combining the manipulators and object dynamics without any approximation. The resulting dynamics are thus described by the PDEs, having rigid as well as flexible parameters coupled together. This paper attempts to develop a robust control scheme without approximating the PDE in order to avoid measurements of flexible coordinates and their time derivatives. For this purpose, the two subsystems, namely slow and fast subsystems, are identified by using the singular perturbation technique. Specific robust controllers for both the subsystems are developed. In general, usage of the singular perturbation technique necessitates exponential stability of both subsystems, which is evaluated by satisfying Tikhnov's theorem. Hence, the exponential stability analysis is performed for both subsystems. Focusing on two three-link manipulators holding a flexible beam, simulations are performed and simulation results demonstrate the versatility of the proposed robust composite control scheme.

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“…The governing equations of motion are obtained through the energy method [5][6][7][8][9]. To apply this method one needs to know the kinetic, potential and strain energies stored in the hub and in the flexible structure during the time evolution.…”

Section: The Mathematical Modelmentioning

confidence: 99%