Decreasing infinite-mode vibrations in single-link flexible manipulators by a continuous function

Chen, Bin; Huang, Jie

doi:10.1177/0959651817708489

Cited by 8 publications

(5 citation statements)

References 38 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…https://www.indjst.org/ (56) , [Alam and Tokhi, 2007] (75) , [Diaz et al, 2010] (69) , [Chen and Huang, 2017] (124) It is an open-loop control technique that utilizes a command signal for the reduction of vibrations of digital control systems. The command signal chosen is such that the vibration induced by the previous part of the signal is cancelled by the vibration induced by the latter part.…”

Section: Continued On Next Pagementioning

confidence: 99%

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

View full text Add to dashboard Cite

Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are dynamic modelling and control of flexible link robots. A brief, yet, significant review is provided that addresses these issues. Methods: The various approaches used by researchers for dynamic modelling and control of flexible robots are presented. Besides that, methods used for achieving optimal control are also discussed. Findings: After a review of 153 research papers from the year 1975 to 2021, it has been found that a good dynamic model of flexible manipulator helps in reducing the control and computational efforts. Recent trends in research in the area of flexible manipulators are towards the use of sliding mode control and vision-based control techniques. Novelty: Inclusion of the effect of torsional vibrations besides lateral vibrations on the positional accuracy of flexible manipulators makes the current research work novel.

show abstract

Section: Continued On Next Pagementioning

confidence: 99%

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

View full text Add to dashboard Cite

show abstract

“…The detrimental effects degrade positioning accuracy, capable operating speeds, workspace size, and reliability. Therefore, there is a need to control unwanted oscillations and inflexible link manipulators [5].…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Control for Robot Manipulator

Martínez-Ochoa

Benítez-González

Cepero-Díaz³

et al. 2022

Journal of Robotics and Control

View full text Add to dashboard Cite

Active Disturbance Rejection Control (ADRC) is a control methodology used in chemical processes, aircraft, motors, and other systems. This paper compares the results of an ADRC controller to a Proportional Integral Derivative controller (PID), applied to two degrees of freedom robots. A Linear Extended State Observer (LESO) is used to reconstruct the state variables and unknown parameters needed to control the position of each link. The ADRC can achieve the tracking position and estimate the velocity of each link. The results of the simulation program are shown.

show abstract

“…The reinforcement learning control of flexible beams is also investigated by Ouyang et al 21 In addition to these studies, linear quadratic regulator (LQR), linear quadratic Gaussian (LQG) and H ∞ controllers design for lumped parameter model are widely seen techniques in this area. 22–24 In order to deal with high-frequency modes, Chen and Huang 25 design a piecewice continous control signal. However, the frequency of first mode is used to constitute control law in that study.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control of flexible link manipulators for unmodeled dynamics effect

Altıner

Delibaşı

Erol

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

Flexible link manipulators are mostly prefered in applications where energy consumption and faster operation are critically important. Since distributed nature of flexibility makes the system depend on not only time variable but also a spatial variable, the dynamics of flexible structures are expressed by partial differential equations. In the virtue of this kind of modeling, the designers encounter with infinite dimensional systems which means that the system has an infinite number of degrees of freedom. To cope with infinite dimensional systems, one of the most relevant techniques is to truncate the model into a definite order. However, this may yield the unmodeled dynamics that cause performance degradation and even instability. In this paper, the main motivation is to propose control techniques to compensate unwanted effects of unmodeled dynamics which may occur in truncation process. In order to achieve this goal, the linear quadratic Gaussian and the weighted [Formula: see text] controller design are adopted. The performances of the designed controllers are demonstrated on the experimental setup. Besides this motivation, traditional lumped parameter model of the flexible link manipulator which is widely seen in the literature is considered and the superiority of the partial differential equation model is shown on the experimental setup.

show abstract

Decreasing infinite-mode vibrations in single-link flexible manipulators by a continuous function

Cited by 8 publications

References 38 publications

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Active Disturbance Rejection Control for Robot Manipulator

Modeling and control of flexible link manipulators for unmodeled dynamics effect

Contact Info

Product

Resources

About