Modeling and Control of Flexible Telescoping Manipulators

Abstract

This paper considers modeling and control of a planar flexible two-link telescoping manipulator. The telescoping interface between the deploying and non-deploying portions of the links is discussed in detail. The equations of motion are derived using Lagrange's equation and constrained using a projection method that eliminates the need to compute Lagrange multipliers explicitly. Passivity-based control of the telescoping manipulator is also investigated. It is shown that several passive input-output maps exist. In particular, by a suitable redefinition of the inputs and outputs, a modified tip-based control is made possible. The model is validated through numerical simulation, and the tip-based control is compared with joint-based control. Simulation results show that tip-based control has better closed-loop performance compared with joint-based control.

Kinematics and Dynamics of Flexible Robotic Manipulators Using Dual Screws

“…where A ∈ SO(3) and θ × ∈ R 3×3 is skew-symmetric. The notation X = (A, θ × A) ∈ G 1 will also be used for the group element in (8). Let…”

“…In [4], [7], the authors suggested that eigenmodes of a clamped-free Euler-Bernoulli beam are often used for flexible serial manipulators with high hub-to-link mass ratio, however, it was highlighted that using clamped-mass boundary conditions is more correct. AMM can also be applied for modeling flexible robotic manipulators with telescopic joints [8].…”

A Separated Adaptive Control Strategy for Different Conditions Based on Flexible Dynamics Equation of Robot Manipulator

“…During the movement, the manipulator witness changes in its spatial position and potential energy of elastic deformation [14]. The finite matrix analysis was performed on the four links of the manipulator to obtain the generalized coordinates of the potential energy.…”

“…The dynamics equation considers a 5DOF manipulator operating in a rigid environment [14]. To control the dynamics adaptively, the control structure must be robust to the uncertainty in the model.…”

Decreasing infinite-mode vibrations in single-link flexible manipulators by a continuous function

“…Modeling and dynamics of flexible link manipulators have attracted broad attention. 1–8 Dynamical analyses indicate that there are an infinite number of vibration modes in a single-link flexible manipulator. The first mode is fundamental, but the high modes might have impacts on the overall system dynamics under some specific conditions.…”