Trajectory optimization of flexible link manipulators in point-to-point motion

Korayem, M. H.; Nikoobin, A.; Azimirad, Vahid

doi:10.1017/s0263574708005183

Cited by 45 publications

(37 citation statements)

References 31 publications

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“…The control of the end-effector is based on the simultaneous application of two functions [15][16][17][18][19], as shown in Figure 4. The first function aims to generate a correct S-shape trajectory from the starting point A to the final point B (Figure 4a), while the second function guarantees the accuracy in trajectory tracking, reducing any potential perturbation ( Figure 4b).…”

Section: Dual Control Strategy Developmentmentioning

confidence: 99%

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

2020

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This study compares a set of strategies to plan and control the trajectory of a robotic device in a planar workspace. These strategies are based on an affective application of jerk-laws able to indicate undesirable conditions (e.g., vibrations) facilitating the device control. The jerk is the time derivative of acceleration, and this solution provides an indirect means to control the variation rate of the actuator torques, while avoiding the complex robot dynamic models and their algorithms for computing the dynamics. In order to obtain a smooth trajectory, a regulator to control a robotic device has been developed and validated. It consists of the implementation of two control modules able to (i) generate the predefined trajectory and (ii) guarantee the path tracking, reducing unwanted effects. In this case a simple S-shaped path has been originated by the “trajectory generator module” as a reference movement to rehabilitate upper limb functionality. The numerical simulation and the results of preliminary tests show the efficacy of the proposed approach through the vibration smoothness appraisal associated with the motion profile.

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Section: Dual Control Strategy Developmentmentioning

confidence: 99%

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

2020

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“…The obtained equations establish a 2‐point boundary value problem (TPBVP). They have solved this problem by numerical techniques and have presented an algorithm for obtaining the maximum transportable load …”

Section: Introductionmentioning

confidence: 99%

“…They have solved this problem by numerical techniques and have presented an algorithm for obtaining the maximum transportable load. [15][16][17] So far, extensive studies have been conducted on the dynamics, path design, and control of robots with elastic members. However, most of these research works have been limited to the presentation of theoretical results and computer simulations.…”

Section: Introductionmentioning

confidence: 99%

Theoretical and experimental study of dynamic load‐carrying capacity for flexible robotic arms in point‐to‐point motion

Shafei

Korayem

2017

Optim Control Appl Methods

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Summary This paper involves the study of a general formulation and numerical solution for the dynamic load‐carrying capacity of a mechanical manipulator with elastic links. The approach presented in this article is based on an open‐loop optimal control. This method results from the Pontryagin minimum principle, which yields a 2‐point boundary value problem. The indirect method has been exploited to extract the optimality conditions. The dynamic equations of motion for this system have been obtained by means of the Gibbs‐Appell formulation and by applying the assumed modes method. The elastic characteristics of the members have been modeled based on the Timoshenko beam theory and its associated mode shapes. The aim of this research is to calculate the maximum‐allowed load that a mechanical manipulator with flexible links can carry while traversing an optimal path. At the end, to evaluate the proposed method, we made a comparison between the simulation results obtained from the presented model and the experimental results obtained from a manipulator with 2 flexible links. The comparison between the simulation and empirical data confirms the credibility of the presented method in computing the dynamic load‐carrying capacity and controlling the point‐to‐point motion of the considered 2‐link flexible manipulator.

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“…However, the flexible manipulator system is mainly made up of the base driving devices and the upper flexible actuators. [15][16][17] Due to the fluctuation of motor electromagnetic parameters and the structural inertia, it is very difficult to move with strict uniform velocity or constant axial force for the driving system, especially when the motion state changes.…”

Section: Introductionmentioning

confidence: 99%

Electromechanical coupling vibration characteristics of an AC servomotor-driven translational flexible manipulator

Yang

Wang

et al. 2016

International Journal of Advanced Robotic Systems

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The nonstationary transition status of the motor start-up phase creates great threat against the stable operation of the flexible manipulator system. This article investigates the electromechanical coupling dynamics and vibration response characteristics for a flexible manipulator of an alternating current servomotor-driven linear positioning platform with considering the start-up dynamic characteristics of the motor. Based on the constructed global electromechanical coupling effect and the Lagrange-Maxwell equations, the dynamic model of the whole system is established. The electromechanical coupling vibration mechanism of the flexible manipulator is obtained by analyzing the multiphysical process and multiparameter coupling phenomenon of the whole system. The result demonstrates that the nonstationary transition status of the motor initialization phase is mainly manifested during the disturbance of the three-phase stator current. As the speed of the linear positioning platform increases, the current disturbance, arousing the change of the servo driving force of the linear positioning platform, has dominant frequency shift and frequency amplitude decrease. Then, the vibration response of the flexible manipulator is markedly affected and the variation of the high-order modes vibration response is more obvious. The analysis result is significant for improving the dynamic performance of the motor-driven flexible robot manipulator system.

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Trajectory optimization of flexible link manipulators in point-to-point motion

Cited by 45 publications

References 31 publications

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

Theoretical and experimental study of dynamic load‐carrying capacity for flexible robotic arms in point‐to‐point motion

Electromechanical coupling vibration characteristics of an AC servomotor-driven translational flexible manipulator

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