Experimental modal analysis of a single-link flexible robotic manipulator with curved geometry using applied system identification methods

Pappalardo, Carmine Maria; Lök, Şefika İpek; Malgaca, Levent; Guida, Domenico

doi:10.1016/j.ymssp.2023.110629

Cited by 4 publications

(6 citation statements)

References 63 publications

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“…What has been described is valid exclusively for symmetrical containers concerning a single axis. Otherwise, for each main axis of the section of the container, there is a fundamental mode [25,26]. Based on the hypotheses made, a one-dimensional model was developed consisting of a trolley subject to motion that translated along the horizontal direction, visible in Figure 2b, in which a linear damper was connected to the pendulum to add to the model the dissipative characteristics given by the viscosity and by the friction created between the fluid and the container [27].…”

Section: Methodsmentioning

confidence: 99%

Multibody Analysis of Sloshing Effect in a Glass Cylinder Container for Visual Inspection Activities

De Simone,

Veneziano,

Pace

et al. 2024

Applied Sciences

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This paper addresses the phenomenon of sloshing and the issues that arise during liquid handling at visual inspection stations. The pharmaceutical industry, recently put under pressure by the pandemic, has long adopted modular solutions consisting mainly of robotic islands. This work focuses on a visual inspection island for glass vials and ampules called VRU. This machine uses robotic arms to optimize the inspection process and enables automated control of a wide range of products using image recognition techniques and AI algorithms. However, the handling of containers in the presence of liquids requires special precautions to avoid the occurrence of bubbles inside the fluid that can prevent the cameras from correctly capturing any defects present. The banal solution involves a drastic reduction in the speeds and accelerations to which the liquids are subjected. However, using appropriate techniques makes it possible to achieve performance values similar to those obtainable when manipulating solid materials. The developed algorithms were tested using multibody simulations in the Mathworks Simscape environment and then validated using a six-axis Fanuc robot. In this study, however, the analysis conducted aimed to determine the correlations between trajectories, laws of motion, and sloshing in containers handled at high speed in industrial applications. In this study a multibody model was developed using a CFD analysis. The container consisted of a glass vial for pharmaceutical uses containing a liquid inside. The results obtained from the CFD analysis allowed us to calibrate the multibody model for the next phase of optimization of the laws of motion to be followed by the manipulator.

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Section: Methodsmentioning

confidence: 99%

Multibody Analysis of Sloshing Effect in a Glass Cylinder Container for Visual Inspection Activities

De Simone,

Veneziano,

Pace

et al. 2024

Applied Sciences

Self Cite

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“…Moreover, The stiffness and damping ratio of a 3-TPT parallel manipulator with flexible links were identified using simulation and experimentation in [16]. An array of fundamental system identification procedures, which includes the ARX (AutoRegressive eXogenous method), SSEST (State Space Estimation method), N4SID (Numerical Algorithm for Subspace State Space System Identification), ERA/OKID (Eigensystem Realization Algorithm combined with the Observer/Kalman Filter Identification method), and TFEST (Transfer Function Estimation method) methods were applied to flexible-link manipulators [17]. In this direction, the model identification of single-link flexible manipulator was performed in [14,15,17], and the two-link flexible manipulator model identification was also considered in [13].…”

Section: Introductionmentioning

confidence: 99%

“…An array of fundamental system identification procedures, which includes the ARX (AutoRegressive eXogenous method), SSEST (State Space Estimation method), N4SID (Numerical Algorithm for Subspace State Space System Identification), ERA/OKID (Eigensystem Realization Algorithm combined with the Observer/Kalman Filter Identification method), and TFEST (Transfer Function Estimation method) methods were applied to flexible-link manipulators [17]. In this direction, the model identification of single-link flexible manipulator was performed in [14,15,17], and the two-link flexible manipulator model identification was also considered in [13]. Thus, the approaches mentioned above were proposed to identify flexible manipulators to obtain a linear first-order and second-order linear mechanical system model; these approaches obtained nonparametric models that express the simplified linear dynamics of the flexible-link manipulators.…”

Section: Introductionmentioning

confidence: 99%

“…Thus, the approaches mentioned above were proposed to identify flexible manipulators to obtain a linear first-order and second-order linear mechanical system model; these approaches obtained nonparametric models that express the simplified linear dynamics of the flexible-link manipulators. Moreover, the vibrational dynamics of the flexible link were identified without taking into account the dynamics of the actuator [15,17].…”

Section: Introductionmentioning

confidence: 99%

“…In this context, the present contribution proposes an identification method that permit the identification of the physical parameters of flexible manipulators. The main contributions and improvements of the proposed identification method are (i) the identification of the dynamic parameters of the system based on the complete dynamic model that includes the flexible-link vibrational dynamics and the rotational dynamics of the actuator; (ii) considering the nonlinear dynamics such as the Coulomb frictions of the motor; and (iii) the estimation of all physical parameters of the model system; the existing approaches compute estimates of nonparametric models [14,15] or the parameters of simplified models [17]. Consequently, the present contribution proposed a parameter identification method to estimate the dynamic parameters of a flexible-link manipulator based on the complete model.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Parameter Identification of Flexible Link Manipulators Using Evolutionary Algorithms

Lara-Molina

2024

Machines

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This paper addresses the parameter identification of a one-link flexible manipulator based on the experimental measurement of the inputs/outputs, the finite element model, and the application of evolutionary algorithms. A novel approach is proposed to find the values of inertia, stiffness, and damping parameters by minimizing the difference between the numerical model’s outputs and the testbed’s outputs, thus considering the joint position and acceleration of the link’s tip. The dynamic model is initially obtained using the finite element method and the Lagrange principle. A prototype of a single one-link flexible manipulator is used in the experimental application, wherein the servomotor applies the input torque, and the outputs are the joint angle and the link’s tip acceleration. Then, an optimization problem minimizes the difference between the numerical and experimental outputs to determine the set of parameters using evolutionary algorithms. A comparative analysis to obtain the identified parameters is established using genetic algorithms, particle swarm optimization, and differential evolution. The proposed identification approach permitted the determination of the dynamic parameters based on the complete dynamic model of the flexible-link manipulator, which is different from the approaches reported in the literature that identify a simplified model. This information is essential for the design of the motion and vibration control laws.

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Dynamic modeling and vibration control optimization of a rotating hollow beam with ESACLD treatment

Zhang,

Li,

Zhang

et al. 2024

Thin-Walled Structures

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Experimental modal analysis of a single-link flexible robotic manipulator with curved geometry using applied system identification methods

Cited by 4 publications

References 63 publications

Multibody Analysis of Sloshing Effect in a Glass Cylinder Container for Visual Inspection Activities

Multibody Analysis of Sloshing Effect in a Glass Cylinder Container for Visual Inspection Activities

Parameter Identification of Flexible Link Manipulators Using Evolutionary Algorithms

Dynamic modeling and vibration control optimization of a rotating hollow beam with ESACLD treatment

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