Sliding DFT-Based Vibration Mode Estimator for Single-Link Flexible Manipulator

Shitole, Chandrashekhar; Sumathi, P.

doi:10.1109/tmech.2015.2391132

Cited by 31 publications

(16 citation statements)

References 24 publications

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“…6 FLMs are advantageous and highly demanded nowadays due to several benefits such as high performance, low cost, and less energy consumption due to utilizing small size of actuators. 7 However, the flexible structure of robotic manipulators results in extra difficulty in modeling and control. 8 As FLMs have significant advantages, there has been a rapid increase in the number of researches focusing on modeling and control of FLMs.…”

Section: Introductionmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

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Section: Introductionmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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“…FLMs have the advantages of high performance and low cost and require small actuators which leads to less energy consumption [8]. However, FLMs possess extra complexity in modelling and control [9,10].…”

Section: Introductionmentioning

confidence: 99%

A critical review of modelling methods for flexible and rigid link manipulators

Lee

Alandoli

2020

J Braz. Soc. Mech. Sci. Eng.

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Mathematical modelling plays an important role for robotic manipulators in order to design their particular controllers. Also, it is hard challenge to obtain an accurate mathematical model or obtain a suitable modelling method in such vast field. Thus, this critical review is advantageous and indispensable for researchers who are interested in the area to gain fruitful knowledge on the mathematical modelling methods. This paper is classified based on the type of robotic manipulators such as flexible link manipulators (FLMs), rigid link manipulators (RLMs) and hybrid manipulators which involves rigid links and flexible links. The used modelling methods for FLMs are the assumed mode method, the finite element method, and the lumped parameter method as approximation techniques which are well explained and reviewed. The Lagrangian method has inclusive explanation and review which is widely participated for obtaining the dynamic equations of FLMs, and it is appropriate and commonly employed for modelling RLMs. The Newtonian method, the forward kinematic, and the inverse kinematic are also well discussed and reviewed which are suitable and commonly employed for modelling RLMs. The critical discussion of 170 articles reported in this paper guides researchers to select the suitable method for modelling. This paper reviews the published articles in the period of 2010-2020 except for few older articles for the need of providing essential theoretical knowledge. The advantages and disadvantages of each method are well summarized at the end of the paper. The intelligent identification methods are briefly discussed due to the lack of publications especially on the period of 2010-2020.

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“…In Zouari et al's study, 50 the proportional-integral and sliding mode controllers are designed for robotic manipulator with uncertain flexible joint and all parts of manipulator containing actuators are modeled to obtain high performance. The sliding mode-based discrete Fourier transform is presented by Shitole and Sumathi 51 for estimation of single-link flexible manipulators vibration mode. In the study by Zhang et al, 52 an adaptive smooth sliding mode technique for vibration control in modal space is proposed in the flexible manipulators with parallel structure and multiple smart linkages.…”

Section: Introductionmentioning

confidence: 99%

Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications

Amirkhani

Mobayen

Iliaee

et al. 2019

International Journal of Advanced Robotic Systems

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In this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain mass-spring system in the existence of external perturbation. This system is considered as a benchmark problem in the flexible joint mechanisms. The joints flexibility in the robotic systems creates one of the most significant sources of parametric uncertainties. The theory of Lyapunov stability is used for the formulation of the proposed control method, and the presence of the sliding around the switching surface is satisfied in the finite time. Simulation results as well as the experimental verifications prove the efficiency and applicability of the suggested approach in the presence of parametric uncertainty, noise, and exterior disturbance.

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Sliding DFT-Based Vibration Mode Estimator for Single-Link Flexible Manipulator

Cited by 31 publications

References 24 publications

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

A critical review of modelling methods for flexible and rigid link manipulators

Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications

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