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Review on Modeling and Control of Flexible Link Manipulators

Dipendra Subedi, Ilya Tyapin, Geir Hovland
2020 Modeling, Identification and Control  
A survey of the reported studies is carried out based on the method used for modeling link flexibility and obtaining equations of motion of the FLMs.  ...  This paper presents a review of dynamic modeling techniques and various control schemes to control flexible link manipulators (FLMs) that were studied in recent literature.  ...  Acknowledgments The work was funded by SFI Offshore Mechatronics, project number 237896.  ... 
doi:10.4173/mic.2020.3.2 fatcat:jscokhufqjbo7f5gaclkbykgra

Vibration suppression control of a space robot with flexible appendage based on simple dynamic model

Daichi Hirano, Yusuke Fujii, Satoko Abiko, Roberto Lampariello, Kenji Nagaoka, Kazuya Yoshida
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper discusses a vibration suppression control method for a space robot with a rigid manipulator and flexible appendage.  ...  A suitable dynamic model that considers the coupling between the manipulator and flexible appendage was developed for the controller to accomplish the vibration suppression control of the flexible appendage  ...  CONTROL LAW A control law is derived to suppress vibrations of the flexible appendage on the basis of the proposed model. The control inputs are the manipulator joints.  ... 
doi:10.1109/iros.2013.6696441 dblp:conf/iros/HiranoFALNY13 fatcat:gklprqhikjglbeoxujlaa56wry

Vibration Control of a Flexible Link Manipulator Using Smart Structures

H. Salmasi, R. Fotouhi, P.N. Nikiforuk
2008 IFAC Proceedings Volumes  
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.  ...  Flexible link robot manipulator To verify the effectiveness of the piezoelectric actuator in suppressing the vibration of a robot manipulator, a single flexible manipulator was analyzed.  ... 
doi:10.3182/20080706-5-kr-1001.01996 fatcat:ofsekinv3rdihmj2lcmdftge2y

Modelling and State Variable Feedback Control with Proportional Action of a One-Link Flexible Manipulator Incorporating Payload

M. Khairudin, S. P. Herlambang, Y. Sigit, A. Andik, T. Herawan, Z. Mohamed, A. Shah, M. N. A. Azman
2021 The International Journal of Acoustics and Vibration  
The dynamic model of a one-link flexible manipulator is developed through a finite element method. The system is uncertain due to the variation of payloads and numbers of elements.  ...  To obtain the effectiveness of the controllers, a combination of SVF control-based LQR controls with proportional gain is developed for a flexible link manipulator with payload variations.  ...  studies, there have not been many studies which focus on the techniques to control vibration suppression and input tracking on a one-link flexible manipulator incorporating payload in the tip position  ... 
doi:10.20855/ijav.2020.25.11489 fatcat:oakiyzggsffghn22evfvf6ynl4

Resonant Control of a Single-Link Flexible Manipulator

Auwalu M. Abdullahi, Z. Mohamed, Marwan Nafea M.
2014 Jurnal Teknologi  
This paper presents resonant control of a single-link flexible manipulator based on the resonant modes frequencies of the system.  ...  A flexible manipulator system is a single-input multi-output (SIMO) system with motor torque as an input and hub angle and the tip deflection as outputs.  ...  In this study the resonant controller is designed based on one element and without payload.  ... 
doi:10.11113/jt.v67.2840 fatcat:dnlcfpinrbe7fofs5gmka55x5y

Fuzzy PID control of a two-link flexible manipulator

Shuai Zhang, Ya-hong Zhang, Xi-nong Zhang, Guang-xu Dong
2016 Journal of Vibroengineering  
This paper focuses on the active vibration control of a two-link flexible manipulator with piezoelectric materials.  ...  For a flexible manipulator system, the unwanted vibrations deteriorate usually the performance of the system due to the coupling of large overall motion and elastic vibration.  ...  Acknowledgement This work was supported by the National Natural Science Foundation of China (No. 11302160) of the second author.  ... 
doaj:7b10e3648bb54a6dabfdc7d9d1d70035 fatcat:4db73tzgmvfx7mpckexqzpstb4

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Natraj Mishra, chool of Engineering, UPES Dehradun, Uttarakhand, India, S P Singh
2021 Indian Journal of Science and Technology  
Novelty: Inclusion of the effect of torsional vibrations besides lateral vibrations on the positional accuracy of flexible manipulators makes the current research work novel.  ...  Findings: After a review of 153 research papers from the year 1975 to 2021, it has been found that a good dynamic model of flexible manipulator helps in reducing the control and computational efforts.  ...  Optimization techniques Dynamic modelling using assumed modes method The initial work on flexible robots started with the study of a single flexible link.  ... 
doi:10.17485/ijst/v14i43.1418-i fatcat:nrs2r5kyfnfppmqq4jxv7f3xju


Nura Musa Tahir, Sabo Miya Hassan, Zaharuddin Mohamed, Ahmed Garba Ibrahim
2017 International Journal on Smart Sensing and Intelligent Systems  
This paper present output based input shaping with two different control algorithms for optimal control of single link flexible manipulators.  ...  Endpoint residual vibrations and oscillations due to flexible and rigid body motions are big challenges in control of single link flexible manipulators, it makes positioning of payload difficult especially  ...  Various optimization problems were solved to study the performance of the model for vibration suppression.  ... 
doi:10.21307/ijssis-2017-216 fatcat:4o7bhlccurd4zpszuvx5qsknzy

Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control

Minqiang Shao, Yuming Huang, Vadim V. Silberschmidt
2020 Shock and Vibration  
The simulation results demonstrate that the CRRM is consistent with reality and the active controller has good performance in suppressing vibration of the manipulator with both the flexible link and the  ...  This paper presents a finite-element (FE) model of a manipulator with a flexible link and flexible joint as well as embedded PZT actuators and proposes a corrected rebuilt reduced model (CRRM) to make  ...  the vibration suppression of a manipulator with both flexible links and joints based on the FE method.  ... 
doi:10.1155/2020/4671358 fatcat:karfsmcog5hapdg6dg43xhhcui

Optimized output-based input shaping for control of single-link flexible manipulator using linear matrix inequality

Nura Musa Tahir, Mustapha Muhammad, Bashir Bala Muhammad, Haliru Liman, Aminu Yahaya Zimit, Auwal Shehu Tijjani
2020 Indonesian Journal of Electrical Engineering and Computer Science  
In this paper, output-based command shaping (OBCS) was designed using the system output for tip deflections and residuals vibrations suppression, and this was incorporated with a linear matrix inequality  ...  <span>Precise hub angle positioning due to tip deflections, flexible motions and under various payloads is enormous tasks in the control of single-link flexible manipulators.  ...  ACKNOWLEDGEMENTS The authors are grateful to Abubakar Tafawa Balewa University (ATBU) Bauchi and Bayero University Kano (BUK), Nigeria for providing financial support and research resources.  ... 
doi:10.11591/ijeecs.v20.i1.pp109-116 fatcat:lzmmoglmifha3ba7znfo3sbhse

The Application Of Computer Algebra In Modelling And Vibration Control Of A Flexible Manipulator

Z. Mohamed, A. A. Mohd Faudzi, M. N. Ahmad, Z. M Zain, A. W. I. Mohd Hashim
2011 Jurnal Teknologi  
A symbolic-based model characterising the behaviour of the manipulator is developed using a symbolic language based on finite element and Lagrange methods.  ...  Analyses are carried out to investigate the significance and relations of the physical parameters of the flexible manipulator with the system characteristics including poles, zeros, stability, vibration  ...  of the weight of a manipulator on vibration frequency ( of length of a manipulator on vibration frequency with two types of material poles, on the other hand, are affected by the payload, see Eq. (12  ... 
doi:10.11113/jt.v54.828 fatcat:exsjwnbmvnamlef2t5ya3rkfda

Vibration Control Using Input Shaping and Adaptive Positive Position Feedback

Ryan Orszulik, Jinjun Shan
2011 Journal of Guidance Control and Dynamics  
In this paper, input shaping is combined with multi- mode adaptive PPF to suppress the vibrations of a slewing flexible manipulator with frequency uncertainty.  ...  A proportional-derivative controller is combined with the proposed vibration controller to suppress vibration while slewing the manipulator.  ... 
doi:10.2514/1.52287 fatcat:6dpftfp3czet5nqkje54rambuy

Robust vibration control of a flexible manipulator in presence of payload uncertainty

Muhammad Atif Khushnood, Xiaogang Wang, Naigang Cui
2017 Journal of Vibroengineering  
This paper presents the results of hybrid vibration controllers applied for vibration suppression of flexible manipulator.  ...  Results are compared for suppressing vibrations resulting from slewing motion of manipulator, where the slewing motion is controlled by the PD controller.  ...  The model of the manipulator is taken as a flexible beam with a variable tip mass (payload).  ... 
doi:10.21595/jve.2017.18215 fatcat:njr7st6isrcrrl6vonwy357onq

Optimal Trajectory Planning of the Variable-Stiffness Flexible Manipulator Based on CADE Algorithm for Vibration Reduction Control

Qiang Cheng, Wenxiang Xu, Zhifeng Liu, Xiaolong Hao, Yi Wang
2021 Frontiers in Bioengineering and Biotechnology  
Based on the mathematical model of the system, the design of the vibration damping controller of the flexible manipulator is proposed, and the control system with nonlinear input is considered for numerical  ...  In this paper an optimal trajectory planning control method to suppress the vibration of a variable-stiffness flexible manipulator considering the rigid-flexible coupling is proposed.  ...  Compared with the elastic vibration during the movement of the flexible manipulator, the vibration at the end of the flexible manipulator is suppressed to a greater extent of the optimal vibration suppression  ... 
doi:10.3389/fbioe.2021.766495 pmid:34692668 pmcid:PMC8531977 fatcat:4rbbhxhhgjfavpvp6stxzzz3vm

Neural Network Compensation Control for Model Uncertainty of Flexible Space Manipulator Based on Hybrid Trajectory

Huang Dengfeng, Huang Xiaoqin
2021 Journal of Engineering Science and Technology Review  
To avoid the influences of model uncertainty and the vibration of flexible manipulator on control accuracy, the trajectory tracking and flexible suppression problems of free-floating flexible space manipulator  ...  This study provides an effective scheme to increase control accuracy in the trajectory tracking of the space manipulator under model uncertainty and the vibration of the flexible links in practical conditions  ...  Acknowledgements The authors are grateful for the support provided by the Fujian Provincial Natural Science Foundation of China (2020J01842).  ... 
doi:10.25103/jestr.141.09 fatcat:ltsf3id3grcfzahhfnam4fvjcu
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