Modeling and nonlinear control of a flexible-link manipulator
نویسندگان
چکیده
منابع مشابه
QFT 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...
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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...
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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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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...
متن کاملAccurate Modeling and Nonlinear Finite Element Analysis of a Flexible-Link Manipulator
Accurate dynamic modeling and analysis of flexible link manipulator (FLM) with non linear dynamics is very difficult due to distributed link flexibility and few studies have been conducted based on assumed modes method (AMM) and finite element models. In this paper a nonlinear dynamic model with first two elastic modes is derived using combined Euler/Lagrange and AMM approaches. Significant dyn...
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ژورنال
عنوان ژورنال: Applied Mathematical Modelling
سال: 2013
ISSN: 0307-904X
DOI: 10.1016/j.apm.2013.05.003