PDE Control of a Flexible Two-Link Manipulator

Zhang, X.; Xu, Weina; Nair, S. S.; Chellaboina, VijaySekhar

doi:10.1115/imece2001/dsc-24628

Cited by 4 publications

(5 citation statements)

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“…Qiu, Li and Zhang [13] Planar TL FM; MC. Zhang, Zhang, Zhang and Dong [14] Planar TL FM; MC. Khan and Kara [15] Planar TL FM; MC.…”

Section: Previous Work Limitations And/or Disadvantagesmentioning

confidence: 99%

“…Qiu, Li and Zhang [13] designed a minimum variance self-tuning controller and a fuzzy neural network controller for the MC of a planar SL FM. Zhang, Zhang, Zhang and Dong [14] utilized a fuzzy proportional plus integral plus derivative control for the MC of a planar TL FM. Khan and Kara [15] used a neural fuzzy approach for the MC of a planar TL FM.…”

Section: Introductionmentioning

confidence: 99%

“…SL FMs [1][2][3][4][5][6][7][8][9][10], planar FMs [1][2][3][4][5][6][7][8][9][11][12][13][14][15][16][17][18][19][20][21], joint space control [20,21], inverse dynamics techniques [18,20], and singular perturbation techniques [21] utilized for the development of control approaches in recent works have been summarized in the previous paragraphs.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

2022

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This work addresses the end-effector trajectory-tracking force and motion control of a three-dimensional three-link robot considering measurement noises. The last two links of the manipulator are considered as structurally flexible. An absolute coordinate approach is used while obtaining the dynamic equations to avoid complex dynamic equations. In this approach, each link is modeled as if there is no connection between the links. Then, joint connections are expressed as constraint equations. After that, these constraint equations are used in dynamic equations to decrease the number of equations. Then, the resulting dynamic equations are transformed into a form which is suitable for controller design. Furthermore, the dynamic equations are divided as pseudostatic equilibrium and deviation equations. The control torques resulting from the pseudostatic equilibrium and the elastic deflections are obtained easily as the solution of algebraic equations. On the other hand, the control torques corresponding to the deviations are obtained without any linearization. Encoders, strain gauges, position sensors and force and moment sensors are required for measurements. Low pass filters are considered for the sensors. For the crossover frequencies of the sensors, low and high values are chosen to observe the filtering effect on the robot output.

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“…Qiu, Li and Zhang [13] Planar TL FM; MC. Zhang, Zhang, Zhang and Dong [14] Planar TL FM; MC. Khan and Kara [15] Planar TL FM; MC.…”

Section: Previous Work Limitations And/or Disadvantagesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

2022

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“…To minimize the effect of the overshoot a Proportional-Integral-Derivative (PID) controller was designed. Simplicity in designing, ease of usage, and effortless implementation are the advantages of the PID controller, due to which this controller was selected [42]. In this controller, the process variables are controlled by a closed-loop mechanism.…”

Section: Position Controlmentioning

confidence: 99%

Energy Efficient Parallel Configuration Based Six Degree of Freedom Machining Bed

et al. 2021

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The process of material removal from a workpiece to obtain the desired shape is termed machining. Present-day material removal technologies have high spindle speeds and thus allow quick material removal. These high-speed spindles are highly exposed to vibrations and, as a result, the accuracy of the final workpiece’s dimensions is compromised. To overcome this problem, the motion of the tool is restricted, and multiple degrees of freedom are given through the motion of the workpiece in different axes. A machining bed configured as a parallel manipulator capable of giving six degrees of freedom (DOF) to the workpiece is proposed in this regard. However, the proposed six DOF machining bed should be energy efficient to avoid an increase in machining cost. The benefit of using the proposed configuration is a reduction in dimensional error and computational time which, as a result, reduces the energy utilization, vibrations, and machining time in practice. This paper presents kinematics, dynamics and energy efficiency models, and the development of the proposed configuration of the machining bed. The energy efficiency model is derived from the dynamics model. The models are verified in simulation and experimentally. To minimize error and computation time, a PID controller is also designed and tested in simulation as well as experimentally. The resulting energy efficiency is also analyzed. The results verify the efficacy of the proposed configuration of the machining bed, minimizing position error to 2% and reducing computation time by 27%, hence reducing the energy consumption and enhancing the energy efficiency by 60%.

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“…The fuzzy PID method can adaptively adjust the PID parameters online by using the fuzzy logic to depress vibrations [5]. Nevertheless, the fuzzy logic requires expert knowledge [6]. The acceleration feedback method is effective to suppress vibration.…”

Section: Introductionmentioning

confidence: 99%

Decoupling Vibration Control for a Two-Link Manipulator

2022

Proceedings of WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications

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Due to the influence of the coupling torque in the two-link manipulator, the disturbance observer (DOB) method cannot achieve an ideal vibration suppression effect. A velocity controller is proposed, including a decoupler and a rigid-body state observer (RBSO), to simultaneously decrease the coupling torque and vibrations. The two-link manipulator is modelled as a two-input two-output (TITO) system in this paper. The decoupler is designed based on the dynamic model of the TITO system in a simplified structure. The RBSO contains a state observer (SOB) and a damper. The SOB obtains a rigid-body velocity from its state variable. The damper feeds back the error between the rigid-body velocity and link velocity to a proportional-integral controller to add system damping, achieving vibration suppression. The effectiveness to decrease coupling torque and vibrations of the proposed method are verified in simulations.

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PDE Control of a Flexible Two-Link Manipulator

Abstract: A stable strain feedback control design is proposed for a flexible two-link manipulator using a model with partial differential equations directly. Stability is established using a Lyapunov-based design.

Cited by 4 publications

References 0 publications

Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

Energy Efficient Parallel Configuration Based Six Degree of Freedom Machining Bed

Decoupling Vibration Control for a Two-Link Manipulator

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