Passivity Based Adaptive Control of a Single-Link Flexible Manipulator

Belherazem, A.; Chenafa, Mohamed

doi:10.3103/s0146411621010028

Cited by 8 publications

(4 citation statements)

References 13 publications

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“…For the past few years, robotics has experienced rapid development and has become widely used in a variety of fields, such as military, industry, aerospace and so on. With the thriving of robotics, the flexible robotic manipulator has also attracted wide attention, and diverse interesting control methods are being investigated, such as sliding control [1][2][3][4][5], feedback linearization method [6,7], and the passivity approach [8,9]. It should be noticed that modeling errors are inevitable in the actual modeling process, which will bring about a certain deviation in the dynamic characteristics of the model.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Control for Flexible Robotic Manipulator with a Fixed Sampled Period

Zhang

Dai

2022

Electronics

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In this paper, a backstepping sampled data control method is developed for a flexible robotic manipulator whose internal dynamic is completely unknown. To address the internal uncertainties, the fuzzy logical system (FLS) is considered. Moreover, considering the limited network bandwidth, the designed controller and adaptive laws only contain the sampled data with a fixed sampled period. By invoking the Lyapunov stability theory, all signals of the flexible robotic manipulator are semi-global uniformly ultimately bounded (SGUUB). Ultimately, an application to a flexible robotic manipulator is given to verify the validity of the sampled data controller.

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Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Control for Flexible Robotic Manipulator with a Fixed Sampled Period

Zhang

Dai

2022

Electronics

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“…The passive control requires external control device to gradually stabilize the system, and is restricted by factors such as mechanical structure and damping material, which make it difficult to implement in many applications. 12,13 The active vibration control does not rely on external devices and can utilize external input energy to achieve high-performance control; so, it has good controllability and can easily meet high control requirements. However, most active vibration control methods require specific sensors to measure specific motion parameters that are required to drive the actuator to generate accurate force or torque outputs 14,15 ; as a result, the actuator will inevitably bring certain disturbances to the original control system, which may degrade the system control performance.…”

Section: Introductionmentioning

confidence: 99%

An active control method for vibration reduction of a single-link flexible manipulator

Peng-yu

Xia

Wang

et al. 2022

Journal of Low Frequency Noise, Vibration and Active Control

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There are three motion stages for an industrial robot manipulator, including the acceleration stage, the constant velocity stage, and the deceleration stage. Aiming at reducing the residual vibration of the manipulator after the movement of the deceleration, a new method is proposed by configuring the movement parameters of the flexible manipulator. Firstly, we conduct experiments to verify a numerical vibration model of the manipulator, and then, we analyze the vibration suppression effect under different conditions based on the numerical model. The results show that in the range of one movement, the residual vibration can be well suppressed when the acceleration and deceleration time are set as a positive integer to the natural period of the manipulator operation; otherwise, the vibration suppression effect is not obvious and proportional to the difference between the acceleration/deceleration time and the manipulator natural period.

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“…For example, Lew [11] took a single-link flexible manipulator as an example to illustrate the influence of passive damping on the position of the pole and zero of the system. Belherazem [12] studied the adaptive passive control of a single-link flexible manipulator with parameter uncertainties. In addition to passive control, many advances have been made in energy saving and vibration reduction trajectory planning in recent years.…”

Section: Introductionmentioning

confidence: 99%

Vibration characteristics of flexible manipulator based on EVO trajectory effect by the constraints and parameters variation

Zhang¹,

Sun²,

Fu³

et al. 2022

J. vibroeng.

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This paper studies the vibration control effect for manipulators with both flexible link and flexible joint according to the energy-vibration-optimal (EVO) trajectory planning method effect by the constraint conditions and structure parameters. First, a dynamic model of the flexible joint-flexible link arm is established following the assumed modal method and Lagrange principle. The optimization model is then proposed and discretized using the Particle Swarm Optimization (PSO) trajectory planning method and the trajectory optimization of discrete result algorithm, taking into account both residual oscillation and energy consumption. Following that, the numerical trajectory optimization results and their vibration suppression effect analysis by different constraint conditions, such as driving constraints, time constraints, and joint stiffness, are compared and discussed. The results show that the optimization velocity trajectory tends to a S-shaped trajectory and a convex trajectory respectively with the increase of driving velocity constraint and acceleration constraint respectively, while the sufficient planning time can make the less energy consumption. The parameter variations of length, cross-sectional area and next link lumped mass of have a significant impact on the residual oscillation of the flexible arm, with length having the most influence, whereas joint stiffness has little influence on the residual oscillation of the flexible link. The processing accuracy of length, cross-sectional area and end quality parameters must be ensured, while joint stiffness accuracy requirements can be slightly relaxed during the actual processing. Finally, experiments show that the optimization method is effective at vibration suppression. While the small variations of the end mass have significant influence on the vibration suppression effect, the residual vibrations of the parameter variation ones are all larger than the original parameter one. Meanwhile, as the mass of the manipulator increases, so does its energy consumption.

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Passivity Based Adaptive Control of a Single-Link Flexible Manipulator

Cited by 8 publications

References 13 publications

Adaptive Fuzzy Control for Flexible Robotic Manipulator with a Fixed Sampled Period

Adaptive Fuzzy Control for Flexible Robotic Manipulator with a Fixed Sampled Period

An active control method for vibration reduction of a single-link flexible manipulator

Vibration characteristics of flexible manipulator based on EVO trajectory effect by the constraints and parameters variation

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