Non-Linear Dynamics (Vibration Analysis) of a Flexible Single Link Cartesian Manipulator
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 ...
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 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...
متن کاملA Pd-Type Fuzzy Logic Control Approach For Vibration Control Of A Single-Link Flexible Manipulator
This paper presents the design of PD-type fuzzy logic controller (PDFLC) for vibration control of a single-link flexible manipulator system. A flexible manipulator system is a SIMO system with motor torque as the applied input and the hub angle and tip deflection as its two outputs. The system is modelled using the finite element method. The PDFLC have two inputs, the hub angle error and its de...
متن کاملModelling and Simulation of Vibration and Input Tracking Control of a Single-Link Flexible Manipulator
This paper presents investigations into the development of control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, a Linear Quadratic Regulator (LQR) was initiall...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal for Research in Applied Science and Engineering Technology
سال: 2019
ISSN: 2321-9653
DOI: 10.22214/ijraset.2019.5546