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Comparison of Simulation of Contact Force Control of Flexible Manipulator Using Bernoulli-Euler theory and Timoshenko theory

2019 Journal of Applied Science, Engineering and Technology for Development  
In this article, simulation of the contact force control of a flexible manipulator to investigate the influence of shear deformation and rotational inertia, which varies depending on the sectional shape  ...  Considering the nature of this application in terms of safety, the control of the contact force becomes a requirement along with the conventional control of position.  ...  Contact force control and boundary control controller To control the contact force of the tip of the flexible arm, it is necessary to consider boundary control.  ... 
doi:10.33803/jasetd.2017.3-2.2 fatcat:sjzwxxskzndtfboigcqlmc7nhm

DYNAMIC MODELING OF A SINGLE-LINK FLEXIBLE MANIPULATOR ROBOT WITH TRANSLATIONAL AND ROTATIONAL MOTIONS

Dermawan Dermawan, Hammada Abbas, Rafiuddin Syam, Zulkifli Djafar, Abdul Kadir Muhammad
2020 International Islamic University Malaysia Engineering Journal  
The system of the single-link flexible manipulator (SLFM) consists of the aluminum beam as a flexible link, clamp part to hold the link, DC motor to rotate drive shaft, a trajectory to transfer link in  ...  The flexible manipulator is widely used in space robots, robot arm, and manufacturing industries that produce micro-scale products.  ...  flexible robotic manipulator with a smart piezoelectric transducer [20] , vibration control of a single-link flexible composite manipulator [21] .  ... 
doi:10.31436/iiumej.v21i1.1254 fatcat:aa6zgqcdb5fshjvmujoy6hdufi

Dynamic simulation of task constrained of a rigid-flexible manipulator

Atef A. Ata, Habib Johar
2004 International Journal of Advanced Robotic Systems  
In this paper, different profiles for the time varying angle α are proposed to investigate the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator.  ...  A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation.  ...  In 1994, a dynamic modeling and force/motion control of constrained flexible robot was presented .  ... 
doi:10.5772/5621 fatcat:dtzyb7jxsfddviocvc5q6smbnq

The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load

Fuli Zhang, Zhaohui Yuan
2021 Sensors  
Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control.  ...  First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using  ...  And the rotation between the two frames is θ, so it is a rigid rotation. Its rotational moment is τ θ . The length of the manipulator is L, and the density of the mechanical manipulator ρ.  ... 
doi:10.3390/s21041522 pmid:33671789 fatcat:c3awloxzlfhivc7pytxzicowzm

A Continuum Manipulator for Open-Source Surgical Robotics Research and Shared Development

Angus B. Clark, Visakan Mathivannan, Nicolas Rojas
2020 IEEE Transactions on Medical Robotics and Bionics  
Many have explored the application of continuum robot manipulators for minimally invasive surgery, and have successfully demonstrated the advantages their flexible design provides -- with some solutions  ...  This robotic system is fabricated from low cost off-the-shelf components and rapid prototyping methods, and its information for implementation (and that of future iterations), including CAD files and source  ...  Alongside the mechatronic systems of the robot, we also introduced an Arduino Library for the control of the robot, providing simplified control of the manipulator and a starting point for future development  ... 
doi:10.1109/tmrb.2020.3041391 fatcat:swvyfosltrhaviwq2qggisachm

Smooth motion profile for trajectory planning of a flexible manipulator

Sameh Zribi, Marouene Mejerbi, Hatem Tlijani, Jilani Knani, Vicenc Puig
2018 2018 International Conference on Advanced Systems and Electric Technologies (IC_ASET)  
This motion law is tested with a dynamic model of the manipulator that is controlled using a model-free approach so that the robot can follow the desired trajectory.  ...  This paper deals with the problem of trajectory generation with a motion law in joint space for a flexible singlelink manipulator.  ...  Description and Dynamic Modeling of Flexible Single-Link Manipulator Before presenting the modeling steps of flexible single-link manipulator robot, let begin with its description.  ... 
doi:10.1109/aset.2018.8379885 fatcat:uetpzm7l4ravpbtlazr5dsk4ne

Flexible robotic device for spinal surgery

Samir Morad, Christian Ulbricht, Paul Harkin, Justin Chan, Kim Parker, Ravi Vaidyanathan
2014 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)  
The constraint controller and the inverse kinematics relations are both incorporated into the overall positional control structure of the robot, and have successfully established a haptic feedback controller  ...  A computer simulation with a full Graphical User Interface (GUI) was created and used to validate the system of inverse kinematic equations for the robot platform.  ...  varying the lengths of the legs.  ... 
doi:10.1109/robio.2014.7090336 dblp:conf/robio/MoradUHCPV14 fatcat:dypi4mlbcjbmxat2qcy2pqienu

Effect of Intermediate Location and Time-Varying End Mass on the Dynamic Response of a Flexible Robot Manipulator in Tracing Multi-Straight-Line Path

Mojtaba Kazemi, Mostafa Ghayour
2012 Advanced Materials Research  
This paper presents the effects of intermediate location and time-varying end mass on the dynamic response of flexible robot manipulator with rotating-prismatic joint in tracing multi-straight-line path  ...  The tip end of the flexible robot manipulator traces a multi-straight-line path under the action of external driving torque and axial force.  ...  Some papers have extensively studied and modelled vibrational analysis and control of flexible manipulators with conventional joints and different types of boundary conditions [1]- [2] . Chang et al.  ... 
doi:10.4028/www.scientific.net/amr.463-464.1246 fatcat:s47iibpq5vdc3izhla6gvpkeki

Analysis of Poles and Zeros for Tapered Link Designs [chapter]

Douglas L. Girvin, Wayne J. Book
2003 Advanced Studies of Flexible Robotic Manipulators  
When tapered beams are used as the links of light-weight robots, the existence of nonminimum phase (right half plane) zeros complicates the robot control problem.  ...  The relative position of poles and zeros varies significantly as the rate of taper changes, which will have consequences on feedback stability and noncausal effects in inverse dynamics.  ...  For a single-link manipulator rotating in the horizontal plane, the link's mass moment of inertia about its axis of rotation, I y , is of importance.  ... 
doi:10.1142/9789812796721_0008 fatcat:q4dwoeu45ral7lydxgiu2t2gzu

Minimization of vibration in elastic beams with time-variant boundary conditions

F. M. L. AMIROUCHE, MINGJUN XIE
1992 Journal of Guidance Control and Dynamics  
Then we obtain an equiva- Zo(t) Fig. 1 Robotic manipulator with a flexible terminal link.  ...  Z., and Srinivasan, R., ‘‘Dynamic Modeling and Adaptive Control of a Single-Link Flexible Manipulator,’’ Journal of Guidance, Control, and Dynamics, Vol. 12, No. 11, 1989, pp. 838- 844. 28Wie, B., ‘‘Active  ... 
doi:10.2514/3.20978 fatcat:4myjk3i23rf6hcwcsyuzif6iee

Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility

Hyunsoo Yang, Nicolas Staub, Antonio Franchi, Dongjun Lee
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
The MAGMaS (Multiple Aerial-Ground Manipulator System) was proposed in [1] as a heterogeneous system composed of multiple ground (mobile) manipulators and aerial robots to collaboratively manipulate a  ...  We also discuss the issue of controllability stemming from that the aerial robot provides less number of actuation than the modes of the load flexibility; and elucidate some peculiar conditions for this  ...  ) ∈ SO(2) denotes a rotation matrix and θ L ar =θ ar −θ l is the relative orientation of aerial robot w.r.t. the flexible load frame L.  ... 
doi:10.1109/iros.2018.8593834 dblp:conf/iros/YangSFL18 fatcat:fwqbsjvjmnhtvmnnqeac6u635m

Complete dynamic modeling and approximate state space equations of the flexible link manipulator

Habib Esfandiar, Saeed Daneshmand
2012 Journal of Mechanical Science and Technology  
To achieve flexible manipulator control, the standard form of state space equations for a flexible manipulator system (flexible link and actuator) is very important.  ...  This work treats the problem of dynamic modeling and state space approximation for robotic manipulators with flexibility.  ...  manipulator control (future work), we need a standard form of the state space equations for a flexible manipulator system (flexible link and actuator).  ... 
doi:10.1007/s12206-012-0731-x fatcat:z7c6vgrikbc5xnltcowdjtn75u

Nonparametric identification and control of flexible joint robot manipulator

Jerzy Z. Sasiadek, Anthony Green, Steve Ulrich, Adam Krzyzak
2014 2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)  
We discuss nonadaptive and adaptive control strategies for tracking the end effector of a flexible robot with collocated and noncollocated sensors attached at the end effector and 0.5m from the elbow joint  ...  Nonparametric identification procedure for the flexible robot is also presented and its convergence is discussed.  ...  An improved controller of position and vibration of a single-link flexible manipulator has been implemented in [5] .  ... 
doi:10.1109/mmar.2014.6957355 dblp:conf/mmar/SasiadekGUK14 fatcat:swzvrygc5bde7obdhe4utrn7ie

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  
Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are dynamic modelling and control of flexible link robots.  ...  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.  ...  The boundary conditions were time-varying.  ... 
doi:10.17485/ijst/v14i43.1418-i fatcat:nrs2r5kyfnfppmqq4jxv7f3xju

Dynamic modelling of a two-link flexible manipulator system incorporating payload

M. A. Ahmad, Z. Mohamed, N. Hambali
2008 2008 3rd IEEE Conference on Industrial Electronics and Applications  
This paper presents dynamic modelling of a twolink flexible manipulator based on closed-form equations of motion.  ...  A dynamic model of the system, incorporating structural damping, hub inertia and payload, is developed using finite assumed mode methods.  ...  These results are very helpful and important in the development of effective control algorithms for a two-link flexible robot manipulator with varying payload . moving coordinate frame. θ i is the angular  ... 
doi:10.1109/iciea.2008.4582487 fatcat:lqewb6iiffdjnmz3uft7iize2u
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