Dynamics of nonrigid articulated robot linkages

Judd, Robert P.; Falkenburg, Donald R.

doi:10.1109/tac.1985.1103978

Cited by 56 publications

(5 citation statements)

References 12 publications

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“…By using the Lagrange multiplier method, we derive dynamic equations of joint angles, vibrations of the flexible links, and constraint forces. In the previous usual models 5 Simulation results confirm that the controller performs remarkably well.…”

Section: Introductionsupporting

confidence: 56%

Force Control of Flexible Manipulators

Matsuno¹

2003

Advanced Studies of Flexible Robotic Manipulators

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This chapter discusses modeling methodology and force control scheme of constrained flexible manipulators. Modeling and force control of a constrained one-link flexible arm are treated in the first section. In the second section modeling and hybrid position/force control of constrained n link flexible manipulators are considered. In the third section, a dynamic model and robust cooperative controllers of two one-link flexible arms are discussed. Important points for the modeling of constrained flexible manipulators are as follows: "1. The end-point of the flexible manipulator is constrained and a boundary condition is nonhomogeneous" and "2. The exact model can be described as a distributed parameter system of an infinite dimensional system. An approximated finite-dimensional model should be derived for designing controllers." In the controller design, an important point is as follows: "To suppress the spillover instability caused by the residual modes which are neglected at the controller design phase, a robust controller should be constructed." 4.

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Section: Introductionsupporting

confidence: 56%

Force Control of Flexible Manipulators

Matsuno¹

2003

Advanced Studies of Flexible Robotic Manipulators

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“…Book and Majette [1983] (9) determined the feedback gains of the controller using frequencydomain and state-space representations. Judd and Falkenburg [1985] (10) studied the control problem from the point of view of generating the desired trajectory and avoiding singularities simultaneously. Kanoh et al…”

Section: Dynamic Modelling Using Assumed Modes Methodsmentioning

confidence: 99%

“…It is also found that to describe the active control of vibrations, the state-space model can accurately represent the system without sacrificing its simplicity. Trajectory control using forward and inverse dynamics methods [Judd and Falkenburg, 1985] (7) , [Dado and Soni, 1986] (19) and effect of gravity [Luca and Siciliano, 1993] (134) on the motion of flexible links were studied in one or two papers. Few authors recommended the use of nonlinear beam theory ([Simo and Vu-Quoc, 1987] (23) , [Hu and Ulsoy, 1994] (28) ) to account for geometric nonlinearities and a nonlinear controller ([Marino and Spong, 1986] (35) , [Khorrami et al, 1995] (135) ) for effentrol of flexible manipulators.…”

Section: Inertial Frame Of Referencementioning

confidence: 99%

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

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Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are dynamic modelling and control of flexible link robots. A brief, yet, significant review is provided that addresses these issues. Methods: The various approaches used by researchers for dynamic modelling and control of flexible robots are presented. Besides that, methods used for achieving optimal control are also discussed. Findings: After a review of 153 research papers from the year 1975 to 2021, it has been found that a good dynamic model of flexible manipulator helps in reducing the control and computational efforts. Recent trends in research in the area of flexible manipulators are towards the use of sliding mode control and vision-based control techniques. Novelty: Inclusion of the effect of torsional vibrations besides lateral vibrations on the positional accuracy of flexible manipulators makes the current research work novel.

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“…Other models for flexible members essentially treat the structure as a single spring and ignore the effects of modes of vibration altogether [6]. In addition, many models consider a single spatial dimension of flexure, or propose superposition of the single-dimensional results to model the motions of a single link in threedimensional space (see, for example, [1,4,6]). …”

Section: Introductionmentioning

confidence: 99%

“…A more realistic formulation must, of course, consider three-dimensional deformations (see, for example, [6,7]. Assuming small deflections for the vibration modes, one could, in principle, superimpose two Euler equation models for transverse motions with a waveequation model accounting for torsional oscillations in the link.…”

Section: Introductionmentioning

confidence: 99%

A model for the embedded tendon control of a slender three-dimensional flexible robot link

Davis

Hirschorn

1994

Dynamics and Control

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Abstract. In this article we develop a model for a very flexible link that incorporates distributed controls and can be caused to achieve large transverse deflections as part of an overall control scheme. This ability opens the possibility of combining structural and position control actuator functions ~vithin a single lightweight physical device (with inextensible centerline). Emphasis is placed on presenting a basic model for this situation in terms and variables that are useful for integration with the conventions of conventional rigid-body robot dynamics.

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Dynamics of nonrigid articulated robot linkages

Cited by 56 publications

References 12 publications

Force Control of Flexible Manipulators

Force Control of Flexible Manipulators

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

A model for the embedded tendon control of a slender three-dimensional flexible robot link

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