This paper presents multi-mode vibration control and analysis of moving platform position errors of a planar 3-PRR parallel manipulator with three flexible intermediate links using PZT transducers. The active vibration controller is designed in modal space with modal filters and modal synthesizers determined from the flexible link vibration characteristics. Estimation of the moving platform pos...

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...

This paper presents the development of an optimal PID controller for vibration control of flexible manipulator structures using particle swarm optimization (PSO) for tuning the PID parameters. The flexible manipulator system is first modeled using finite difference (FD) approach and identification using global search of PSO. The control structure comprises conventional PID controller and an int...

This paper presents a nonlinear formulation to model flexible-link robots based on finite element approach. To derive nonlinear dynamic equations of the flexible-link robot, links are modeled by some finite elements, and Lagrange’s principle is used for dynamic modeling. A local coordinate system is attached to each link and the local displacement of an arbitrary point is formulated based on no...

This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-Assumed modes method is the basis of the new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. It is aaplied to model a two-link fleXIble arm via a commercially available symbolic manipulation p...

In this paper we present a new approach for joint trajectory tracking of a single-link flexible robot manipulator. Firstly a distributed parameter dynamic model is derived using extended Hamilton Principle. Based on this model a new moment feedback trajectory tracking control scheme is designed for a single-link flexible robot manipulator having a payload at its free end. The control scheme is ...

Abstract -This paper proposes a new approach to feedback linearization of flexible link robots which have uncertain modeling. The flexibility of joints is performed by use of the solenoid nonlinear springs, which have damper property. The simplified nonlinear H∞ controller is used to control linearized flexible link robots. The new continues and smooth model of frictions is used for modeling th...

The combination of a rigid and a flexible link in a space robot is an interesting field of study from modeling and control point of view. This paper presents the bond graph modeling and overwhelming trajectory control of a rigid-flexible space robot in its work space using the Jacobian based controller. The flexible link is modeled as Euler Bernoulli beam. Bond graph modeling is used to model t...