Dynamics and tracking control for a free-flying space robot with rigid-flexible links

Yang, Xinxin; Ge, Shuzhi Sam

doi:10.1109/icinfa.2014.6932688

Cited by 10 publications

(16 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Thus, the following relationship is established for the flexible manipulator: (12) Taking the derivative of type (12), the equation of velocity and acceleration between Rectangular Coordinates and generalized coordinates (including joint displacement coordinates and flexible deformation coordinates)can be obtained as follows: We can make the exciting force become small or even zero via reasonably selecting the self-motion variables of the manipulator, which can restrain the vibration of the terminal manipulator. Now, we want to optimize the joint torque on the basis of vibration suppression.…”

Section: The Algorithm Of Joint Torque Optimization For Flexible Spacmentioning

confidence: 99%

See 1 more Smart Citation

Research on Joint Torque Optimization Method of Redundant Space Manipulators with Vibration Suppression

Gao¹,

Du²,

Zhai³

et al. 2017

ITM Web Conf.

View full text Add to dashboard Cite

Abstract:The space manipulator can exert its advantages of high efficiency and low cost, which can assist or even replace astronauts to complete a variety of space operations. However, the research has less consideration on joint torque optimization method with considering the influence of flexible factors on the manipulator. A joint torque optimization method of redundant space flexible manipulator with vibration suppression is proposed in this paper. The bending deformation of flexible connecting rod is described by the assumed mode method and the dynamic model of space flexible manipulator system is derived by the Lagrange method. On the basis of decomposing the dynamic equation of the flexible redundant manipulator, the joint torque is optimized as well as restraining the terminal vibration through introducing the Lagrange multiplier. Finally, simulation result shows that the increase rate of joint torque is not very obvious based on the Particle Swarm Optimization algorithm compared with the experiment without vibration suppression. The forward torque of first joint increases 20.2% and that of second joint only increases 4.1% while the backward torque of both two joints decrease obviously. Meanwhile, the running trajectory has excellent effect on vibration suppression of end effector of flexible manipulators. The terminal deformation in two directions is reduced by 21.3% and 78.6%. The decline of vibration deformation of end effector is obviously larger than the rise of joint torque, which verifies the feasibility and effectiveness of the algorithm.

show abstract

Section: The Algorithm Of Joint Torque Optimization For Flexible Spacmentioning

confidence: 99%

“…For flexible manipulator with multiple connection rods, to describe the deformation accurately, following assumptions were made [11][12]:…”

Section: Establishment Of Dynamic Model Of Flexible Manipulatormentioning

confidence: 99%

Research on Joint Torque Optimization Method of Redundant Space Manipulators with Vibration Suppression

Gao¹,

Du²,

Zhai³

et al. 2017

ITM Web Conf.

View full text Add to dashboard Cite

show abstract

“…In the rest of this paper, a time derivation of such function is usually denoted by a number in brackets in the power of this function. The joint position of the trapezoidal profile is defined by (1) and its first derivative is given by (1) i…”

Section: A Trapezoidal Motion Profilementioning

confidence: 99%

“…Redundant manipulators robots, the combination of rigid and flexible structures mounted in series are of great interest in a number of applications in the modern industry [1]- [3].…”

Section: Introductionmentioning

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

View full text Add to dashboard Cite

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.

show abstract

“…The importance of robot manipulators lies in the variety of its structures on the one hand [1], [2] and on the other hand in the variety of its fields of application in the modern industry [3], [4]. In recent decades, the use of flexible bodies in the manipulators robots structure has triggered a great interest in the control domain [5].…”

Section: Introductionmentioning

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)

View full text Add to dashboard Cite

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.

show abstract

Dynamics and tracking control for a free-flying space robot with rigid-flexible links

Cited by 10 publications

References 15 publications

Research on Joint Torque Optimization Method of Redundant Space Manipulators with Vibration Suppression

Research on Joint Torque Optimization Method of Redundant Space Manipulators with Vibration Suppression

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

Contact Info

Product

Resources

About