Dynamic modeling and mode analysis of flexible-link, flexible-joint robots

Strain gauge based control of single-link flexible very lightweight robots robust to payload changes

“…Nevertheless, most of these control schemes do not show good behavior when payload changes, because it produces strong variations in the dynamics of the robot [7]. Moreover, these changes are very common because they are caused by the different payloads to be carried by the robot.…”

A Survey on the Control of Flexible Joint Robots

“…Recently, the virtual work method was used to provide a dynamic model for mixed-loop planar FJR in [54]. Modeling and mode analysis of robots with simultaneous flexibility in joints and links was presented in [55]. A model that includes electrical and mechanical parts of actuator dynamics was considered in [56] and a novel nonlinear coordinate transformation has been introduced in order to exactly linearize this model.…”

“…Reference [137] considered an FJR with two actuators in each joint, a redundancy resolution problem. Modeling and mode analysis of robots with simultaneous flexibility in joint and link was presented in [55]. References [171] and [172] also considered the same problem.…”

Tip trajectory control of a flexible-link manipulator using an intelligent proportional integral (iPI) controller

“…Moreover, most model-based controller design methods neglect, on the one hand, the significant non-linear variations in the dynamics of this type of manipulator when operating at high speeds or under rapid payload changes (Bellezza et al, 1991;Li et al, 1998;Mohamed and Tokhi, 2004). On the other hand, most model-based studies do not incorporate the very significant non-linear effects of friction at low speeds: an effect capable of generating additional modes of oscillations in the system (Hisseine and Lohmann, 2001;Kim and Parker, 1993;Rokui and Khorasani, 1997).…”