Continuous Modeling of a Multi-Link Flexible Transmission
نویسندگان
چکیده
منابع مشابه
Modeling of a One Flexible Link Manipulator
Dynamics and control of flexible robot manipulators have received wider attention during the last two decades. In manufacturing and space applications, the use of lightweight structures in robot manipulators is motivated by their capacity for high speed maneuvers, their high payload to arm weight ratio, higher mobility, reduced energy consumption, and lower inertia forces for accurate positioni...
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This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملqft control of a two-link rigid-flexible manipulator
this paper evaluates a new and simple controller design method based on qft (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. a piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. this system is modeled as a nonlinear multi-input multi-output (mimo) control systems whose inputs are two...
متن کاملControl of Flexible Link Robot using a Closed Loop Input-Shaping Approach
This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...
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The axially translating flexible link in flexible manipulators with a prismatic joint can be modeled using the Euler-Bernoulli beam equation together with the convective terms. In general, the method of separation of variables cannot be applied to solve this partial differential equation. In this paper, we present a nondimensional form of the Euler-Bernoulli beam equation using the concept of g...
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ژورنال
عنوان ژورنال: Shock and Vibration
سال: 2008
ISSN: 1070-9622,1875-9203
DOI: 10.1155/2008/565068