Local Model and Controller Network Design for a Single-Link Flexible Manipulator

Sharma, Sanjay; Sutton, Robert I.; Tokhi, M. O.

doi:10.1007/s10846-013-9847-1

Cited by 4 publications

(6 citation statements)

References 56 publications

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“…Based on the assumption of the small elastic deformation, the strain of the manipulator root and strain of the end of the manipulator has a linear relation. According to equation (11), w(l h , t) is modelled as…”

Section: The Modelling and Identification Of Coupling Vibration Modelmentioning

confidence: 99%

“…where a is the transfer coefficient between root and end of manipulator. Based on equations (11) and (12), the relation between output voltage V t and coupling vibration torque G coup can be modelled as…”

Section: The Modelling and Identification Of Coupling Vibration Modelmentioning

confidence: 99%

“…8,9 Feliu-Talegon and Feliu-Batlle 10 established a mass-concentrated model for manipulator and applied it to analyse the relationship between vibration character and motor torque. Sharma et al 11 modelled a transfer function with a drive-joint torque input and a manipulator vibration acceleration output based on auto-regressive moving average exogenous (ARMAX) model. To figure out the friction of harmonic transmission constructed by harmonic reducer and servo motor, Liao et al 12 studied the friction character of direct current (DC) servo motor based on LuGre friction model.…”

Section: Introductionmentioning

confidence: 99%

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Coupling dynamic modelling and parameter identification of a flexible manipulator system with harmonic drive

Wang

Lou

2019

Measurement and Control

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This paper formulates a coupling dynamic model for a flexible manipulator system with harmonic drive using experimental identification method. Parameters of the driven model of the harmonic joint and parameters of coupling vibration model of the flexible manipulator are identified. Accordingly, coupling dynamic models of the proposed system are obtained. Coulomb friction of the joint is identified by step current excitation and uniform rotation experiments at a low speed. Then, the transfer function model of the harmonic joint is established and identified by a pseudorandom binary sequence excitation. And predicted outputs of the obtained model are in good agreement with the experimental setup. Relationships between strain of the flexible manipulator and coupling torque are presented by theoretical derivation. Based on the theoretical model, transfer function from the angular displacement of the servo motor to the coupling torque is identified. Experimental results show this identified model match well with the proposed structure, both in the time and frequency domain. As a result, coupling dynamic modelling of the flexible manipulator system with harmonic drive is accomplished.

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Section: The Modelling and Identification Of Coupling Vibration Modelmentioning

confidence: 99%

Section: The Modelling and Identification Of Coupling Vibration Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Coupling dynamic modelling and parameter identification of a flexible manipulator system with harmonic drive

Wang

Lou

2019

Measurement and Control

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“…We apply the pseudo-random binary sequence (PRBS) as the input excitation signal for its white-noise property. 18 To avoid the nonlinear character introduced by coulomb friction, we add a direct current component to the original PRBS and let the mixed signal be input excitation signal. The amplitude range of PRBS is set as [−0.2, + 0.2]V, the amplitude of DC component is 1.2 V, excitation time is set as 5 s and the sampling frequency is set as 200 Hz.…”

Section: Modeling and Identification Of System Dynamic Modelmentioning

confidence: 99%

Coupling dynamic modelling of a flexible manipulator driven by servo joint using experimental identification method

Wang

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, the coupling dynamic model of a flexible manipulator driven by servo joint is established using experimental identification method. The dynamic model of the servo joint is proposed, which consists of a direct current servo motor, a harmonic gear reducer and a servo controller. By fitting the experimental data for the forward and inverse rotation of the motor, the coulomb friction constant and viscosity friction coefficient are obtained. Then, two transform function models that represent the system coupling dynamics are proposed. The input and output variables for one model are the control voltage of the servo controller and the angular displacement of motor. And for the other model, the input and output are the control voltage of the servo controller and the strain output measured by the strain gauges. Using the Pseudo-random binary sequence (PRBS) as the input signal, both the driven model of the servo joint and the vibration model of the flexible manipulator are identified by experimental identification. Experimental results show that the two identified models are in good agreement with the dynamic response of the experimental setup, both for the PRBS and sinusoidal excitation signals. Accordingly, the coupling dynamic models of the proposed system are obtained.

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“…The controller was a LQR controller designed based on the first two natural frequencies of the beam. Sharma et al (2014) presented a new genetic learning approach to the construction of a local model network and design of a local controller network with application to a single-link flexible manipulator. Simulation results demonstrated the excellent modeling properties of the local model network and illustrated the potential benefits of the local controller network.…”

mentioning

confidence: 99%

Active Vibration Control of Flexible Beams Based on Infinite-Dimensional Lyapunov Stability Theory: An Experimental Study

Luemchamloey

Kuntanapreeda

2014

J Control Autom Electr Syst

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Flexible beams are parts of lighter structures and flexible manipulators, which possess numerous advantages. However, the flexibility leads to a vibration problem. This paper presents an experimental study of active vibration control of flexible beams. The beam assumed to behave according to the Euler-Bernoulli theory is modeled by a partial differential equation. The control objective is to suppress the vibration of the beam. Based on the Lyapunov stability theory of infinite-dimension systems, a control law is directly derived without using any approximated finite-dimensional model of the beam. The success of the controller is experimentally demonstrated on a cantilever aluminum beam with a laser displacement sensor and a piezoelectric actuator. Experimental results show that the controller effectively suppresses the vibration.

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Local Model and Controller Network Design for a Single-Link Flexible Manipulator

Cited by 4 publications

References 56 publications

Coupling dynamic modelling and parameter identification of a flexible manipulator system with harmonic drive

Coupling dynamic modelling and parameter identification of a flexible manipulator system with harmonic drive

Coupling dynamic modelling of a flexible manipulator driven by servo joint using experimental identification method

Active Vibration Control of Flexible Beams Based on Infinite-Dimensional Lyapunov Stability Theory: An Experimental Study

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