Decoupled Terminal Sliding Mode Control of Two-link Flexible Manipulators with Motor Dynamics

Wang, Yanmin; Niu, Ziming; Yang, Mingyang; Xu, Qinyuan

doi:10.1109/iecon.2019.8926626

Cited by 2 publications

(4 citation statements)

References 7 publications

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“…Firstly, the MP joints are driven using a conventional drive, i.e one actuator controls one degree of freedom of rotation of the MP joints; for the main underdrive drive design, two aspects are reflected: firstly, the DIP and PIP joints in the single finger mechanism of the manipulator are based on the underdrive, and secondly, the underdrive between three different fingers. Considering that the adaptive manipulator designed in this paper has a total of three independent underdriven fingers and is relatively compact, a comprehensive consideration of the lower floating platform mechanism is the optimal choice [2].…”

Section: Drive Train Designmentioning

confidence: 99%

Structural Design and Analysis of an Adaptive Manipulator

Peng

Bai

Chen

et al. 2023

J. Phys.: Conf. Ser.

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In view of the fact that the existing special manipulator is difficult to meet the requirements, and the universal full-drive multi-finger dexterous manipulator has the shortcomings of complex control and relatively poor reliability, this paper designs a manipulator with simple structure, few driving components, strong adaptive ability, and flexible, stable and fast grasp of objects of different complex shapes. The adaptive manipulator underdrive finger adopts a bionic design, which is composed of a rotary wrist joint, condylar MP joint, intermediate PIP joint, and terminal DIP joint, mixed transmission with gear and tendon rope, with the interaction ability of outer rigidity and inner flexibility, which can realize adaptive envelope grasping and pinching.

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Section: Drive Train Designmentioning

confidence: 99%

Structural Design and Analysis of an Adaptive Manipulator

Peng

Bai

Chen

et al. 2023

J. Phys.: Conf. Ser.

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show abstract

“…Yang and Zhong [18] Planar TL FM; MC; inverse dynamics method. Wang, Niu, Yang and Xu [19] Planar TL FM; MC.…”

Section: Previous Work Limitations And/or Disadvantagesmentioning

confidence: 99%

“…Yang and Zhong [18] considered a terminal sliding mode method for the MC of a planar TL FM. Wang, Niu, Yang and Xu [19] designed a controller by combining the terminal sliding mode and output redefinition for the MC of a planar TL FM. Rahmani and Belkheiri [20] designed an adaptive control method by using joint space variables for the MC of a planar TL FM.…”

Section: Introductionmentioning

confidence: 99%

“…SL FMs [1][2][3][4][5][6][7][8][9][10], planar FMs [1][2][3][4][5][6][7][8][9][11][12][13][14][15][16][17][18][19][20][21], joint space control [20,21], inverse dynamics techniques [18,20], and singular perturbation techniques [21] utilized for the development of control approaches in recent works have been summarized in the previous paragraphs.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

2022

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This work addresses the end-effector trajectory-tracking force and motion control of a three-dimensional three-link robot considering measurement noises. The last two links of the manipulator are considered as structurally flexible. An absolute coordinate approach is used while obtaining the dynamic equations to avoid complex dynamic equations. In this approach, each link is modeled as if there is no connection between the links. Then, joint connections are expressed as constraint equations. After that, these constraint equations are used in dynamic equations to decrease the number of equations. Then, the resulting dynamic equations are transformed into a form which is suitable for controller design. Furthermore, the dynamic equations are divided as pseudostatic equilibrium and deviation equations. The control torques resulting from the pseudostatic equilibrium and the elastic deflections are obtained easily as the solution of algebraic equations. On the other hand, the control torques corresponding to the deviations are obtained without any linearization. Encoders, strain gauges, position sensors and force and moment sensors are required for measurements. Low pass filters are considered for the sensors. For the crossover frequencies of the sensors, low and high values are chosen to observe the filtering effect on the robot output.

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Decoupled Terminal Sliding Mode Control of Two-link Flexible Manipulators with Motor Dynamics

Cited by 2 publications

References 7 publications

Structural Design and Analysis of an Adaptive Manipulator

Structural Design and Analysis of an Adaptive Manipulator

Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

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