Dynamic modeling and simulation of two cooperating structurally-flexible robotic manipulators

Krishnamurthy, K.; Lin, Yang

doi:10.1017/s0263574700018804

Cited by 10 publications

(7 citation statements)

References 22 publications

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“…(11) In the first of these, M is the task-space mass matrix of the equivalent rigid arm evaluated at i ϭF ri Ϫ1 () where F ri Ϫ1 (•), iϭ1,2, are the rigid inverse kinematics maps. Hence, (9) and (10) are equivalent to the rigid-body task-space motion equations. In the second equation, M ee ϭM ee T ϾO is the mass matrix relative to q e assuming that the large payload forms a clamping boundary condition (ϭ0) and K ee ϭK ee T ϾO is the stiffness matrix.…”

Section: Large Payload Dynamicsmentioning

confidence: 99%

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An Adaptive Controller for Two Cooperating Flexible Manipulators

Damaren

2002

J. Robotic Syst.

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The control problem for two serial flexible multilink robots which carry a common rigid payload is considered. An adaptive controller with feedback and feedforward elements is presented which can track a prescribed trajectory for the payload with simultaneous vibration suppression when the manipulated payload is sufficiently large. A free loadsharing parameter appears in the passivity-based control law which allows the torque requirement to be shared between the two arms in a largely arbitrary fashion. Simulation results using a complex model are given which demonstrate excellent tracking performance in the face of complete payload uncertainty.

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Section: Large Payload Dynamicsmentioning

confidence: 99%

“…Beyond this, the dynamics and control of cooperating flexible arms has received little attention but there has been some. 9,10 This paper represents the dénouement for the line of research pursued in refs. 4-8.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Controller for Two Cooperating Flexible Manipulators

Damaren

2002

J. Robotic Syst.

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“…The most common approaches used to discretize the flexible deformation is the Finite Element Method (FEM), 4,5 and the assumed modes method (AMM). [6][7][8][9] Early investigations have primarily focused on modeling of serial elastic link robot, [10][11][12] and a detailed review was provided by Dwivedy and Eberhard. 13 In contrast, little research literature on dynamic modeling for flexible robots with parallel structure has been published.…”

Section: Introductionmentioning

confidence: 99%

Dynamic model and input shaping control of a flexible link parallel manipulator considering the exact boundary conditions

et al. 2014

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SUMMARYIn this paper, a rigid–flexible planar parallel manipulator (PPM) actuated by three linear ultrasonic motors for high-accuracy positioning is proposed. Based on the extended Hamilton's principle, a rigid–flexible dynamic model of the proposed PPM is developed utilizing exact boundary conditions. To derive an appropriate low-order dynamic model for the design of the controller, the assumed modes method is employed to discretize elastic motion. Then to investigate the interaction between the rigid and elastic motions, a proportional derivative feedback controller combined with a feed-forward-computed torque controller is developed to achieve motion tracking while attenuating the residual vibration. Then the controller is extended to incorporate an input shaper for the further suppression of residual vibration of flexible linkages. Computer simulations are presented as well as experimental results to verify the proposed dynamic model and controller. The input shaping method is verified to be effective in attenuating residual vibration in a highly coupled rigid–flexible PPM. The procedure employed for dynamic modeling and control analysis provides a valuable contribution into the vibration suppression of such a PPM.

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“…The dynamic modeling and control of these smart manipulators have been investigated by many researchers. Early investigations have focused primarily on modeling of serial flexible space arms or single flexible beams [5][6][7], and a detailed review was provided by Dwivedy and Eberhard [8]. In contrast, little research literature on vibration suppression of parallel robot with smart flexible links has been published.…”

Section: Introductionmentioning

confidence: 99%

Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control

Zhang

Jin

Zhang

et al. 2014

Shock and Vibration

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This paper addresses the dynamic modeling and efficient modal control of a planar parallel manipulator (PPM) with three flexible linkages actuated by linear ultrasonic motors (LUSM). To achieve active vibration control, multiple lead zirconate titanate (PZT) transducers are mounted on the flexible links as vibration sensors and actuators. Based on Lagrange’s equations, the dynamic model of the flexible links is derived with the dynamics of PZT actuators incorporated. Using the assumed mode method (AMM), the elastic motion of the flexible links are discretized under the assumptions of pinned-free boundary conditions, and the assumed mode shapes are validated through experimental modal test. Efficient modal control (EMC), in which the feedback forces in different modes are determined according to the vibration amplitude or energy of their own, is employed to control the PZT actuators to realize active vibration suppression. Modal filters are developed to extract the modal displacements and velocities from the vibration sensors. Numerical simulation and vibration control experiments are conducted to verify the proposed dynamic model and controller. The results show that the EMC method has the capability of suppressing multimode vibration simultaneously, and both the structural and residual vibrations of the flexible links are effectively suppressed using EMC approach.

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Dynamic modeling and simulation of two cooperating structurally-flexible robotic manipulators

Cited by 10 publications

References 22 publications

An Adaptive Controller for Two Cooperating Flexible Manipulators

An Adaptive Controller for Two Cooperating Flexible Manipulators

Dynamic model and input shaping control of a flexible link parallel manipulator considering the exact boundary conditions

Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control

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