Dynamic modelling of flexible robotic mechanisms and adaptive robust control of trajectory computer simulation––Part I

Knani, Jilani

doi:10.1016/s0307-904x(02)00051-3

Cited by 28 publications

(17 citation statements)

References 2 publications

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“…For the total kinetic energy cTot E , it is evaluated as the sum of the kinetic energy of the rigid body and that of the flexible body. The general expression can be given by The flexible body can be presented by uniform EulerBernoulli beam [23]. The kinetic energy can be given by According to the generalized coordinates, the energy 2f T can be deduced as follows: The total potential energy pTot E can be composed of the strain energy a U delivered by the centrifugal forces at a point on the Bernoulli's beam, the strain energy b U due to deformation resulted by deflection, the energy c U delivered by the engines and the potential energy g U due to gravity.…”

Section: B Dynamic Modelling Of the Studied Mechanismmentioning

confidence: 99%

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

Zribi¹,

Tlijani²,

Knani³

et al. 2017

ijacsa

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Abstract-This paper is concerned with the synthesis of dynamic model of the redundant manipulator robot based on Linear Parameter Varying approach. To evaluate its behavior and in presence of external disturbance several motions profiles are developed using a new algorithm which produce smooth trajectories in optimal time. The main advantages of this proposed approach are its robustness and its simplicity with respect to the flexibility structure, to the motion profile and mass load variations. Numerical simulations with several tasks show that in presence of mass load variation the desired trajectory is more efficiently followed by the LPV model than the dynamic model of the studied mechanism. Its performances are ensured using the smoothest trajectory designed by the Eighth-degree polynomial profile than the Fifth-degree polynomial one and the trapezoidal one.

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Section: B Dynamic Modelling Of the Studied Mechanismmentioning

confidence: 99%

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

Zribi¹,

Tlijani²,

Knani³

et al. 2017

ijacsa

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show abstract

“…For flexible body which is described by uniform EulerBernoulli beam [15], it is assumed subdivided into two elements. So, its kinetic energy is described by…”

Section: B Dynamic Modelingmentioning

confidence: 99%

On the dynamic modelling and simulation of rigid-flexible manipulator robot using several inputs

Zribi

Tlijani

Knani

et al. 2017

2017 4th International Conference on Control, Decision and Information Technologies (CoDIT)

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Abstract-The purpose of this paper is to develop a dynamic model of a rigid-flexible manipulator robot with a load on its endpoint using Euler-Lagrange formulation. In order to test the performance of the studied system, several mathematical functions are used as motion profile. It choice is very important because it affects the robot's performance. Different factors intervene in this choice. However, the most important is the torque's continuity and the movement's smoothness. Numerical simulations show the robustness of the dynamic model of the studied system for several motions profiles.

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“…Several research works focus on the modeling of the flexible arm, such as [2]- [4]. As it is introduced by [5], [6], the finite element method (FE) has proven to be one of the best methods to obtain a good description of the dynamics of the system because it is able to function with irregularities in the structure of the arm with managing mixed boundary conditions and it makes allowance for interaction between the gross motion and the flexible dynamics of the manipulator, which is not possible with use of methods based on frequency domain analysis.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modelling of Flexible Manipulator based on a Large Number of Finite Elements

Mejerbi¹,

Zribi²,

Knani³

2017

ijacsa

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Abstract-This paper focuses on the issue of tracking the trajectory of a flexible arm. The purpose is to ensure the flexible arm follows the desired path in the joint space. To achieve our objective, we have three problems to solve: modeling, control, and trajectory planning. As in the case of rigid robots, the EulerLagrange formulation remains valid with the exception of dividing the flexible arm into a finite number of elements to model the deformation. The iterative learning control scheme can be used to achieve perfect tracking throughout the movement period, a sufficient condition based on the bounded real lemma that guarantees the convergence error between iteration is given. All the results are presented in terms of linear matrix inequalities synthesis (LMIs).

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Dynamic modelling of flexible robotic mechanisms and adaptive robust control of trajectory computer simulation––Part I

Cited by 28 publications

References 2 publications

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

Impact of External Disturbance and Discontinuous Input on the Redundant Manipulator Robot Behaviour using the Linear Parameter Varying Modelling Approach

On the dynamic modelling and simulation of rigid-flexible manipulator robot using several inputs

Dynamic Modelling of Flexible Manipulator based on a Large Number of Finite Elements

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