Vibration Mechanism of Constrained Spatial Flexible Manipulators.
نویسندگان
چکیده
منابع مشابه
Vibration suppression control of constrained spatial flexible manipulators
For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed succ...
متن کاملDynamics of Flexible Manipulators
This paper presents an application of Continuum (i.e. Lagrangian) and Finite Element Techniques to flexible manipulator arms for derivation of the corresponding Dynamic Equations of Motion. Specifically a one-link flexible arm is considered for detailed analysis, and the results are extended for the case of a two - link flexible manipulator. Numerical examples are given for the case of both one...
متن کاملCONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY
A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
متن کاملRobust Vibration Suppression in Flexible Payloads Carried by Robot Manipulators Using Digital Filtering of Joint Trajectories
In this paper, a method for suppressing residual vibrations in flexible payloads, carried by robot manipulators, is proposed and experimentally demonstrated. The proposed method is based on the preconditioning of the robot joint trajectories using FIR digital filters. Several classes of FIR filters such as: a) Parks-McClellan, b) Window-based methods (using Hamming, Hanning, Boxcar, Kaiser, Bar...
متن کاملOptimal Trajectory Planning for Minimum Vibration of Flexible Redundant Cooperative Manipulators
The optimal path planning for two flexible cooperating manipulators carrying a solid object on a prescribed tip trajectory has been studied using kinematic resolution. The formulation has been derived using the Pontryagin minimum principle that results in a two-point boundary value problem. Also, a numerical technique based on converting the abstract optimization to parametric optimization prob...
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: JSME International Journal Series C
سال: 2003
ISSN: 1344-7653,1347-538X
DOI: 10.1299/jsmec.46.123