Commun. Numer. Meth. Engng.
 1999
DOI: 10.1002/(sici)1099-0887(199909)15:9<669::aid-cnm281>3.0.co;2-w
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Finite element approach to dynamic modelling of a flexible robot manipulator: performance evaluation and computational requirements

M. O. Tokhi1,
Z. Mohamed
2

Abstract: SUMMARYThis paper presents a performance evaluation and the computational requirements of using the ®nite element (FE) method for modelling¯exible robot manipulators. A constrained planar single-link¯exible manipulator is considered. Finite-dimensional simulation of the manipulator is developed using the FE method and is implemented on two computing domains. The simulation performance, on the basis of accuracy in characterizing the behaviour of the manipulator and computational eciency, are assessed.

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Cited by 13 publications

(7 citation statements)
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“…A single-input and multi-output state-space equation of motions presented in Refs. 30 and 35 is used to represent the flexible manipulator system. In particular, the HSBFA method is used to find the optimal control parameters for the PD-like FLC to result in better tracking and control performance.…”
Section: Pd-like Flc Optimisation For Flexible Manipulator
mentioning
confidence: 99%
Exaggerated anticipatory anxiety is common in social anxiety disorder (SAD). Neuroimaging studies have revealed altered neural activity in response to social stimuli in SAD, but fewer studies have examined neural activity during anticipation of feared social stimuli in SAD. The current study examined the time course and magnitude of activity in threat processing brain regions during speech anticipation in socially anxious individuals and healthy controls (HC). Method Participants (SAD n = 58; HC n = 16) underwent functional magnetic resonance imaging (fMRI) during which they completed a 90s control anticipation task and 90s speech anticipation task.
“…A single-input and multi-output state-space equation of motions presented in Refs. 30 and 35 is used to represent the flexible manipulator system. In particular, the HSBFA method is used to find the optimal control parameters for the PD-like FLC to result in better tracking and control performance.…”
Section: Pd-like Flc Optimisation For Flexible Manipulator
mentioning
confidence: 99%
Exaggerated anticipatory anxiety is common in social anxiety disorder (SAD). Neuroimaging studies have revealed altered neural activity in response to social stimuli in SAD, but fewer studies have examined neural activity during anticipation of feared social stimuli in SAD. The current study examined the time course and magnitude of activity in threat processing brain regions during speech anticipation in socially anxious individuals and healthy controls (HC). Method Participants (SAD n = 58; HC n = 16) underwent functional magnetic resonance imaging (fMRI) during which they completed a 90s control anticipation task and 90s speech anticipation task.
“…Their vibrational behaviour and nonlinear characteristics make the modelling of such systems a challenge and lead to very complex mathematical models. Through conventional modelling approaches such as partial differential equation (Azad, 1994), finite-difference, finite-element methods (Tokhi and Azad, 1995;Tokhi and Mohamed, 1999), to get a very precise model, many parameters should be taken into account and in many cases, certain assumptions have to be made to simplify the derivation of equation of motion, thus reducing the accuracy of the derived model. From a model-based control point of view, an accurate model of the system is very crucial since the effectiveness of a designed controller is based on the derived model.…”
Section: Flexible Systems
mentioning
confidence: 99%
Exaggerated anticipatory anxiety is common in social anxiety disorder (SAD). Neuroimaging studies have revealed altered neural activity in response to social stimuli in SAD, but fewer studies have examined neural activity during anticipation of feared social stimuli in SAD. The current study examined the time course and magnitude of activity in threat processing brain regions during speech anticipation in socially anxious individuals and healthy controls (HC). Method Participants (SAD n = 58; HC n = 16) underwent functional magnetic resonance imaging (fMRI) during which they completed a 90s control anticipation task and 90s speech anticipation task.
“…Various approaches have been developed which can mainly be divided into two categories: the numerical analysis approach and the assumed mode method (AMM). The numerical analysis methods that are utilised include finite difference and finite element methods (Martins et al 2003, Tokhi andMohamed 1999). Besides, several other methods have also been studied.…”
Section: Introduction
mentioning
confidence: 99%
Exaggerated anticipatory anxiety is common in social anxiety disorder (SAD). Neuroimaging studies have revealed altered neural activity in response to social stimuli in SAD, but fewer studies have examined neural activity during anticipation of feared social stimuli in SAD. The current study examined the time course and magnitude of activity in threat processing brain regions during speech anticipation in socially anxious individuals and healthy controls (HC). Method Participants (SAD n = 58; HC n = 16) underwent functional magnetic resonance imaging (fMRI) during which they completed a 90s control anticipation task and 90s speech anticipation task.
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