Modelling and control of flexible manipulators-revisited

Piedbœuf, Jean-Claude; Farooq, M.; Bayoumi, M.M.; Labinaz, G.; Argoun, M.B.

doi:10.1109/mwscas.1993.343393

Cited by 9 publications

(7 citation statements)

References 23 publications

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“…where w n Ϫ 1 (t) and w n (t) are the elastic deflections of the element and n Ϫ 1 (t) and n (t) are the corresponding angular displacements. Substituting for w(x,t) from equation (2) into equation (1) and simplifying yields…”

Section: Simulation Algorithmmentioning

confidence: 99%

“…Problems arise due to lack of sensing, vibration due to system flexibility and incapability of precise positioning because of the flexible nature of the system and the difficulty to obtain an accurate model. 2,3 Therefore, flexible manipulators have not been favoured in production industries, as the manipulator is required to have a reasonable end-point accuracy in response to input commands. In this respect, a control mechanism that accounts for both rigid body and flexural motions of the system is required.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic characterisation of a flexible manipulator system

Tokhi¹,

Mohamed²,

Shaheed³

2001

Robotica

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This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system is developed based on finite element methods. The flexural and rigid dynamics of the system as well as inertia effects and structural damping are accounted in the model. Performance of the algorithm in describing the dynamic behaviour of the system is assessed in comparison to an experimental test-rig. Experimental results are presented for validation of the developed finite element model in the time and frequency domains.

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Section: Simulation Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic characterisation of a flexible manipulator system

Tokhi¹,

Mohamed²,

Shaheed³

2001

Robotica

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show abstract

“…Due to the flexible nature and distributed characteristics of the system, the dynamics are highly non-linear and complex. Problems arise due to precise positioning requirement, vibration due to system flexibility, the difficulty in obtaining accurate model of the system and nonminimum phase characteristics of the system [2,3]. Therefore, flexible manipulators have not been favoured in production industries, due to un-attained end-point positional accuracy requirements in response to input commands.…”

Section: Introductionmentioning

confidence: 99%

Techniques for vibration control of a flexible robot manipulator

et al. 2006

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This paper presents investigations into the applications and performance of positive and negative input shapers in command shaping techniques for the vibration control of a flexible robot manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the finite element method. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and specified amplitude negative input shapers are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped inputs are presented in the time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction, time response specifications and robustness to parameters uncertainty. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the impact amplitude polarities of the input shapers on the system performance is presented and discussed.

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“…Due to the flexible nature and distributed characteristics of the system, the dynamics are highly nonlinear and complex. Problems arise due to precise positioning requirement, vibration due to system flexibility, the difficulty in obtaining accurate model of the system and non-minimum phase characteristics of the system [2,3]. Therefore, flexible manipulators have not been favoured in production industries, due to un-attained end-point positional accuracy requirements in response to input commands.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Learning Control With Input Shaping for Input Tracking and Vibration Suppression of a Flexible Manipulator

2004

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The objective of the work reported in this paper is to investigate the development of hybrid iterative learning control with input shaping for input tracking and end-point vibration suppression of a flexible manipulator. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate iterative learning control and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the hybrid learning control with input shaping scheme is assessed in terms of input tracking and level of vibration reduction. The effectives of the control schemes in handling various payloads are also studied.

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Modelling and control of flexible manipulators-revisited

Cited by 9 publications

References 23 publications

Dynamic characterisation of a flexible manipulator system

Dynamic characterisation of a flexible manipulator system

Techniques for vibration control of a flexible robot manipulator

Hybrid Learning Control With Input Shaping for Input Tracking and Vibration Suppression of a Flexible Manipulator

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