Simulation studies on near minimum time control of planar flexible manipulators with multiple links

Hwang, S.; Eltimsahy, A.H.

doi:10.1109/iros.1993.583176

Cited by 2 publications

(2 citation statements)

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“…2.2 Dynamic model of flexible planar manipulators A general analytic method for modelling the dynamic behaviour of planar manipulators having flexible links was presented by the authors (Hwang and Eltimsahy, 1990). In that model each link is considered as a clamped-free beam.…”

Section: Introductionmentioning

confidence: 99%

“…Finally, the Lagrange-Euler equation is applied to formulate the dynamic equations of motion which are converted to a state space form similar to that of the rigid manipulator case (Fu et ai, 1987). In order to illustrate the validity of this model, six open-loop cases are simulated by the authors (Hwang and Eltimsahy, 1990). The dimension of the dynamic equations of motion is 2N(~+1), where N = number of links, and n = number of mode shapes used to describe the deflection of each link.…”

Section: Introductionmentioning

confidence: 99%

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Comparison studies of point-to-point near-minimum-time control of planar flexible manipulators with multiple links

Hwang

Eltimsahy

1993

Transactions of the Institute of Measurement and Control

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The objective of this paper is to compare the dynamic behaviour of a near-minimum-time (NMT) controller for planar flexible manipulators by three control schemes; the rigid manipulator control (RMC), the passive flexible manipulator control (PFMC), and the active flexible manipulator control (AFMC). The Lagrange-Euler equation is employed to formulate workable state variable models for both rigid and flexible manipulators. The link flexibility is incorporated by using the method of assumed mode. Simulation results indicate that effects of small link flexibility could not be ignored. Higher torque inputs produce larger tip displacements, and reduce execution times. Simulation results indicate also that tip deflections could be suppressed in highly flexible links with small applied modal torques. However, applied modal torques would prolong the execution time, if they are too small.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Comparison studies of point-to-point near-minimum-time control of planar flexible manipulators with multiple links

Hwang

Eltimsahy

1993

Transactions of the Institute of Measurement and Control

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A Novel Design of Manipulator Arm Control System Based on STM32

Chen

2014

AMM

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This paper presents a novel design of multi dof and multifunctional manipulator arm control system. It uses 32 bit microcontroller STM32 as the core control unit, by controlling the pulse width modulation to control the manipulator arm of the steering gear. It consists of a mechanical model, the control core module, operation module, power supply module. The manipulator arm can greatly improve labor productivity, accelerate the realization of industrial production mechanization and automation, it can replace human labor in order to realize the mechanization and automation of production, and protect the personal safety in harmful environment. It has the advantages of light weight, simple operation, and low production cost etc.

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Simulation studies on near minimum time control of planar flexible manipulators with multiple links

Cited by 2 publications

References 8 publications

Comparison studies of point-to-point near-minimum-time control of planar flexible manipulators with multiple links

Comparison studies of point-to-point near-minimum-time control of planar flexible manipulators with multiple links

A Novel Design of Manipulator Arm Control System Based on STM32

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