Smooth motion profile for trajectory planning of a flexible manipulator

Zribi, Sameh; Mejerbi, Marouene; Tlijani, Hatem; Knani, Jilani; Puig, Vicenç

doi:10.1109/aset.2018.8379885

Cited by 3 publications

(1 citation statement)

References 14 publications

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“…f) Minimize the energy function by minimizing the joint torque requirement. Minimumjerk trajectory planning [Ramabalan et al, 2017] (168) ; [Lu et al, 2017] (169) ; [Zribi et al, 2018] (170) ; [Huang et al, 2018] (171) ; [Rout et al, 2018] (172) ; [Rojas et al, 2019] (173) ; [Fang et al, 2019] (174) ; [Zhou et al, 2020] (175) ; [Oliveira et al, 2020] (176) ; [Devi et al, 2021] (177) Minimum-jerk trajectories produce motions similar to that of human joints (119) . They also minimize vibrations.…”

Section: Conclusion From Literature Survey On Trajectory Controlmentioning

confidence: 99%

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

Mishra¹,

Singh²

2021

IJST

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Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are vibration control of flexible links and trajectory control of flexible robots. A brief, yet, significant review is provided that addresses these two issues. Methods: For vibration control of flexible links, possibilities of the use of passive and active damping methods are explored in the literature. After that, the effect of proper trajectory planning to ensure positional accuracy at the end-effector is studied. Findings: After a review of 181 research papers from the year 1970 to 2021, it has been found that the vibration suppression of flexible links can be achieved through the application of viscoelastic materials, piezoelectric materials, and optimum trajectory planning. Recent trends in research in the area of flexible manipulators show that an optimal trajectory can significantly help in reduction of link vibrations and achievement of positional accuracy simultaneously. Novelty: The novelty of the present work lies in exploring the possible application of passive and active damping control methods for vibration suppression of flexible link manipulators. Besides that, the survey also highlights how well planned trajectory may help achieve accurate tip positioning of flexible robots.

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Section: Conclusion From Literature Survey On Trajectory Controlmentioning

confidence: 99%

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

Mishra¹,

Singh²

2021

IJST

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Improvement of Redundant Manipulator Mechanism performances using Linear Parameter Varying Model Approach

Zribi

Knani

Puig

2020

2020 11th International Renewable Energy Congress (IREC)

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Precision motion control of rotary flexible link manipulators using polynomial input trajectories and feedback control

Tran,

Bashash

2024

Journal of Vibration and Control

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This paper aims to develop a high-precision controller for a flexible link manipulator using polynomial reference, feedforward input, and feedback control. The control objective is to move the tip of the flexible link to a target position as quickly as possible without exciting its resonant modes. Upon a frequency response-based system identification, a frequency-domain feedback controller is designed for reference tracking. The controller includes a proportional-integral controller, a lead filter, and a set of notch filters to control the rigid body and the flexible link dynamics. A set of polynomial reference and feedforward input trajectories are then designed to improve the tracking performance and minimize residual vibrations. The conventional polynomial reference is generated based on the rigid body motion of the system. A revised polynomial reference generation method is then developed by adding flexible motions to the conventional reference. Simulations and experimental tests indicate significant improvements in the performance of the control system using the revised polynomial trajectories.

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Smooth motion profile for trajectory planning of a flexible manipulator

Cited by 3 publications

References 14 publications

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

Improvement of Redundant Manipulator Mechanism performances using Linear Parameter Varying Model Approach

Precision motion control of rotary flexible link manipulators using polynomial input trajectories and feedback control

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