Trajectory Panning of a Flexible Manipulator Based on Driving Torque
نویسندگان
چکیده
منابع مشابه
Optimal Trajectory of Flexible Manipulator with Maximum Load Carrying Capacity
In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...
متن کاملSingularity-Consistent Torque Control of a Redundant Flexible-Base Manipulator
A path tracking control method for a kinematically redundant manipulator on a flexible base is proposed. The method is based on dynamic redundancy resolution through a vibration suppression constraint. It is shown that the end-effector path can pass via an algorithmic singularity without destabilizing the system. Simulation data from a planar system is presented, confirming that stable path tra...
متن کاملTrajectory Optimization of a Flexible Manipulator Using Deflection Analysis Method
In practice, a robotic joint is linearly and angularly deflected when a load is applied at the endeffector. This article presents an improved method with a combination of energy methods and the concepts of differential relationships to more accurately calculate the static deflection at the end-effector. A systematic approach to deflection calculation through three different Jacobians is present...
متن کاملEnd-Effector Trajectory Tracking Control of a Parallel Flexible Manipulator
End-effector trajectory tracking of flexible multibody systems is often a challenging task. This is due to the fact that flexible multibody systems possess less control inputs than degrees of freedom, i.e. they are underactuated. Thus, classical approaches known from fully actuated systems cannot be applied. The complexity might be further increased, if the multibody system includes additional ...
متن کاملTwo-Link Flexible Manipulator Modelling and Tip Trajectory Tracking Based on the Absolute Nodal Coordinate Method
It has been demonstrated that the absolute nodal coordinate formulation (ANCF) proposed recently in literature can be used to exactly describe the flexible multibody system unlike traditional methods such as the floating coordinate method and assumed mode method. Therefore, in this paper a new dynamic modeling technique for a two-link flexible manipulator based on absolute nodal coordinate meth...
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: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2008
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.74.2246