Dynamic Modeling and Control of a Flexible Link Manipulators with Translational and Rotational Joints

Bien, Duong Xuan

doi:10.25073/2588-1124/vnumap.4240

Cited by 6 publications

(4 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…FLMs Classic PD [192] PID [193,194] LQR [195,196,197] Intelligent FLC [198,199] NN [200,201] Robust SMC [202,203,204] H ∞ [205,206] Hybrid [207,208,209,210 and a NN for motion control of a 2-DOF robot in a constrained workspace. The proposed FLC-NN controller has the ability to approximate the system nonlinearity which helps to generate a suitable compensatory control.…”

Section: Manipulator Type Control Type Control Name Referencesmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

View full text Add to dashboard Cite

SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

show abstract

Section: Manipulator Type Control Type Control Name Referencesmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

View full text Add to dashboard Cite

show abstract

“…Several similarities were also identified with existing research, such as the use of Lagrange's equation, kinetic energy, and potential energy to derive the equation of motion [24]. The difference is, Bien's work focuses on the combination of translational and rotational movements of a two-link manipulator, where the first link moves horizontally, and the second link moves rotationally.…”

Section: Introductionmentioning

confidence: 98%

Dynamic Modeling of a Single-Link Flexible Manipulator Robot With Translational and Rotational Motions

Dermawan

Hashemi

Syam

et al. 2020

IIUMEJ

View full text Add to dashboard Cite

The flexible manipulator is widely used in space robots, robot arm, and manufacturing industries that produce micro-scale products. This study aims to formulate the equation of motion of a flexible single-link manipulator system that moves translationally and rotationally and to develop computational codes with finite element methods in performing dynamic simulation on the vibration of the flexible manipulator system. The system of the single-link flexible manipulator (SLFM) consists of the aluminum beam as a flexible link, clamp part to hold the link, DC motor to rotate drive shaft, a trajectory to transfer link in translational motion, and servo motor to rotate link. Computational codes in time history response (THR) and Fast Fourier Transform (FFT) processing were developed to identify the dynamic behavior of the link. The finite element-method and Newmark-beta are used in simulating the SLFM. Simulation using the finite element method has displayed dynamic behavior through a graph of FFT on free vibration and THR graph on forced vibration by the excitation force due to the translational and rotational motions of the system. In the simulation of free vibration, the natural frequency of the system is 8.3 [Hz].

show abstract

“…In specific applications and working environments, this feature improves the functionality of robotic systems and mission scope. A good example is the linear motion of robotic arms, whose equations of motion are also a function of time [21,22]. Suppose the assumption link flexibility is also considered.…”

Section: Introductionmentioning

confidence: 99%

Motion Equations Derivation of Flexible-Link Manipulators with Time- Dependent Link’s Length operated in Fluid Medium

Dehkordi

2022

Preprint

View full text Add to dashboard Cite

This article focuses on the derivation of the motion equations of flexible-links manipulator composed time-dependent link length in the fluid medium, necessitating the inspection of fluid-arms interaction during two simultaneous rigid and elastic motions. The system’s rigid motion consisting of rotational and reciprocating movements of links and the link’s oscillating motion due to their elasticity are both considered. These oscillations, which are posited to be small, are not exclusively a function of the excitations caused by the robot's motors, and the interaction between the manipulator’s links and the fluid medium also affects the links' deformation. Accordingly, the system oscillation, which is a function of the link length stemming from the changes in the rigid modes, becomes dependent on the mechanical features of the surrounding fluid and applied force/moment to the joints based on the fluid-robot interaction type. This interaction can impact the system's elastic and rigid modes. Although the equations are comparable to those developed in previous research that considered a time-varying structure, they include the effects of both the input to joints' motors and the mechanical characteristics of surrounding environment, leading to complex and non-conservative equations. With the aid of recursive Gibbs-Appell formulation, the dynamic equations of the system are calculated based on the defined algorithm and external forces. These equations are evaluated by changing the surrounding fluid's mechanical properties and the links' elasticity and examining the effect of system weight change in MATLAB. The results show that the effects of fluid-manipulator interactions on the links' deformation is greater than the effect of changing link elasticity. Thus, the deformation increases by 100% when the medium’s density changes from 0 to 100 kg/m.

show abstract

Dynamic Modeling and Control of a Flexible Link Manipulators with Translational and Rotational Joints

Cited by 6 publications

References 13 publications

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Dynamic Modeling of a Single-Link Flexible Manipulator Robot With Translational and Rotational Motions

Motion Equations Derivation of Flexible-Link Manipulators with Time- Dependent Link’s Length operated in Fluid Medium

Contact Info

Product

Resources

About