Dynamic modeling of flexible manipulator based on a large number of finite elements

Mejerbi, Marouen; Zribi, Sameh; Knani, Jilani

doi:10.1109/aset.2018.8379882

Cited by 8 publications

(9 citation statements)

References 7 publications

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“…The Lagrange's formula was used in modelling a single-FLM with a payload with the FEM in Ref. [5]. The Lagrange's equation method was employed to enable using a large number of finite elements in order to develop a reliable dynamic model.…”

Section: Lagrangian Methodsmentioning

confidence: 99%

“…The industries demand a modification of the current classic robots in order to minimize the cost of robots' structure, the power consumption, and to increase the productivity. As the traditional and heavy robots cannot satisfy the demands of the industries in terms of power consumption, response, and cost because they are much heavy and bulky, decreasing mass of the heavy robots is quite demanded to manufacture lightweight robot manipulators [5,6]. However, reducing the mass of the rigid and heavy manipulators and manufacture flexible link manipulators (FLMs) leads to undesirable outcomes such as less precision and oscillation caused by the links' flexibility [7].…”

Section: Introductionmentioning

confidence: 99%

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A critical review of modelling methods for flexible and rigid link manipulators

Lee

Alandoli

2020

J Braz. Soc. Mech. Sci. Eng.

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Mathematical modelling plays an important role for robotic manipulators in order to design their particular controllers. Also, it is hard challenge to obtain an accurate mathematical model or obtain a suitable modelling method in such vast field. Thus, this critical review is advantageous and indispensable for researchers who are interested in the area to gain fruitful knowledge on the mathematical modelling methods. This paper is classified based on the type of robotic manipulators such as flexible link manipulators (FLMs), rigid link manipulators (RLMs) and hybrid manipulators which involves rigid links and flexible links. The used modelling methods for FLMs are the assumed mode method, the finite element method, and the lumped parameter method as approximation techniques which are well explained and reviewed. The Lagrangian method has inclusive explanation and review which is widely participated for obtaining the dynamic equations of FLMs, and it is appropriate and commonly employed for modelling RLMs. The Newtonian method, the forward kinematic, and the inverse kinematic are also well discussed and reviewed which are suitable and commonly employed for modelling RLMs. The critical discussion of 170 articles reported in this paper guides researchers to select the suitable method for modelling. This paper reviews the published articles in the period of 2010-2020 except for few older articles for the need of providing essential theoretical knowledge. The advantages and disadvantages of each method are well summarized at the end of the paper. The intelligent identification methods are briefly discussed due to the lack of publications especially on the period of 2010-2020.

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Section: Lagrangian Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A critical review of modelling methods for flexible and rigid link manipulators

Lee

Alandoli

2020

J Braz. Soc. Mech. Sci. Eng.

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“…(4) which can be obtained by solving algebraic Riccati equation (ARE) shown in Eq. (5). 26 N is a gain to eliminate the steady state error and obtained by trail and error.…”

Section: Classical Controllersmentioning

confidence: 99%

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

Alandoli

Lee

2020

Robotica

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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.

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“…The dynamic modelling of the considered mechanism presented by the Bernoulli-Euler beam is performed using the Euler-Lagrange formulation and the finite elements approach ( [11][12][13][14][15][16]). Remember that in all expressions, a number between parentheses in the power of such a function means a time derivative.…”

Section: Smooth Motion Lawmentioning

confidence: 99%

“…The dynamic equation described the dynamic of the considered mechanism is given by where M , K , τ and 1 q represent respectively the system mass matrix, the system stiffness matrix, τ the torque applied to the manipulator, and the vector of generalized coordinates ( [13], [17]).…”

Section: Smooth Motion Lawmentioning

confidence: 99%

Smooth motion profile for trajectory planning of a flexible manipulator

Zribi

Mejerbi

Tlijani

et al. 2018

2018 International Conference on Advanced Systems and Electric Technologies (IC_ASET)

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This paper deals with the problem of trajectory generation with a motion law in joint space for a flexible singlelink manipulator. To this aim, we propose a smooth motion profile based on polynomial function for a flexible manipulator. This motion law is tested with a dynamic model of the manipulator that is controlled using a model-free approach so that the robot can follow the desired trajectory.

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Dynamic modeling of flexible manipulator based on a large number of finite elements

Cited by 8 publications

References 7 publications

A critical review of modelling methods for flexible and rigid link manipulators

A critical review of modelling methods for flexible and rigid link manipulators

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

Smooth motion profile for trajectory planning of a flexible manipulator

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