Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control
نویسندگان
چکیده
منابع مشابه
Vibration Based Control for Flexible Link Manipulator
Robotic manipulators are widely used to help in dangerous, monotonous, and tedious jobs. Most of the existing robotic manipulators are designed and built in a manner to maximize stiffness in an attempt to minimize the vibration of the end-effectors. This high stiffness is achieved by using heavy material and bulky design. Hence, the existing heavy rigid manipulators are shown to be inefficient ...
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Flexible manipulators are extensively used in industries. A theoretical analysis of intelligent tracking controller based on emotional learning model in mammalians brain for single-link flexible-joint manipulator is presented. Brain emotional learning based intelligent controller (BELBIC) is an intelligent controller based on the model of emotional part of brain. In this paper, BELBIC is applie...
متن کاملVibration Control of a Flexible Link Manipulator Using Smart Structures
The active vibration suppression of a flexible link manipulator using a smart structure (piezoelectric actuator) is investigated. For this purpose, a Finite Element (FE) model is developed for the modal and transient analysis of a cantilever beam and a flexible link manipulator. The novelty of this work is in the development of an accurate finite element model of a piezoelectric and beam/manipu...
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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 کاملModeling and Nonlinear Control of a Single-link Flexible Joint Manipulator
In this experiment, we consider the nonlinear control of a robotic arm with joint flexibility. The specific mechanism under investigation is an attachment to rotary Quanser experimental setup. Flexibility is attained by attaching the link to the motor shaft using a pair of springs. There is some discretion in choosing the joint stiffness as there are different locations that the springs can be ...
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ژورنال
عنوان ژورنال: Shock and Vibration
سال: 2020
ISSN: 1070-9622,1875-9203
DOI: 10.1155/2020/4671358