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Relevant bibliographies by topics / Flexible link control

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Academic literature on the topic 'Flexible link control'

Author: Grafiati

Published: 4 June 2021

Last updated: 6 February 2022

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Journal articles on the topic "Flexible link control"

1

Khan, Barlas Raheel, Shingo Okamoto, and Jae Hoon Lee. "617 Vibration Control of a Flexible Link Manipulator Using Piezoelectric Actuators." Proceedings of Conference of Chugoku-Shikoku Branch 2014.52 (2014): _617–1_—_617–3_. http://dx.doi.org/10.1299/jsmecs.2014.52._617-1_.

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Fareh, Raouf, Mohamad Saad, and Maarouf Saad. "Distributed control strategy for flexible link manipulators." Robotica 33, no. 4 (2014): 768–86. http://dx.doi.org/10.1017/s0263574714000459.

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SUMMARYThis paper presents a nonlinear distributed control strategy for flexible-link manipulators to solve the tracking control problem in the joint space and cancel vibrations of the links. First, the dynamic of an n-flexible-link manipulator is decomposed into n subsystems. Each subsystem has a pair of one joint and one link. The distributed control strategy is applied to each subsystem starting from the last subsystem. The strategy of control consists in controlling the nth joint and stabilizing the nth link by assuming that the remaining subsystems are stable. Then, going backward to the (n − 1)th subsystem, the same control strategy is applied to each corresponding joint-link subsystem until the first. Sliding mode technique is used to develop the control law of each subsystem and the global stability of the resulting tracking errors is proved using the Lyapunov technique. This algorithm was tested on a two-flexible-link manipulator and gave effective results, a good tracking performance, and capability to eliminate the links' vibrations.

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Kilicaslan, S., S. K. Ider, and M. K. Özgören. "Motion control of flexible-link manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 222, no. 12 (2008): 2441–53. http://dx.doi.org/10.1243/09544062jmes1015.

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A new method is proposed for the end-effector trajectory tracking control of flexible robot manipulators. The equations of motion are separated into two parts that represent the pseudostatic equilibrium and the deviations from it. The part of the control input for the pseudostatic equilibrium is determined algebraically, and the other part of the control input for the stabilization of the deviations is obtained by a state variable feedback law, by using strain, joint variable, and end-effector position measurements. The feedback gain matrix is determined online by continuously updated pole placement. The pseudostatic equilibrium is defined here as a hypothetical state, in which the velocity and acceleration of the end-effector have their desired values whereas the elastic deformations are instantaneously constant. In order to demonstrate the method, a planar two-link robot with a flexible forearm is taken into consideration. The elasticity of the forearm is approximately described by the first two modes, and a controller is designed by using this two-mode model. Furthermore, in order to investigate the effects of modelling discrepancies, a ‘submodel controller’ is designed by using a model with only the first mode and it is applied to the same system with the two-mode model. The performances of these two controllers are compared by means of simulations. The behaviour of the flexible robot is also simulated by using the computed torque method as if the robot is rigid in order to illustrate the importance of including the flexibility effects in the formation of an appropriate control law. The spillover effect that causes the dominant poles to approach towards the imaginary axis is inspected by monitoring the real parts of the dominant poles of the closed-loop system under the effect of the ‘submodel’ and ‘computed torque’ controllers.

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Sun, Qiao. "Control of Flexible-Link Multiple Manipulators." Journal of Dynamic Systems, Measurement, and Control 124, no. 1 (2001): 67–75. http://dx.doi.org/10.1115/1.1435362.

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In this paper, we consider the object trajectory tracking control for flexible-link cooperating manipulators. In particular, we develop a stable inversion control law which is commonly known as the inverse dynamics control or the computed torque method for rigid manipulators. Difficulties in applying this method to the control of flexible link manipulators are due to the fact that the inverse dynamics system is generally unstable because of the inherently unstable zero dynamics. As such, bounded actuator torques cannot be guaranteed. For multiple manipulators handling a common object, there are more actuators than the degrees of freedom of the system. Through decomposing the manipulator end-effector wrenches into resultant and internal force components, control laws are derived such that the internal forces are used to stabilize the system zero dynamics. Consequently, nonlinear inversion control can be applied for the object trajectory tracking control. Numerical simulations are performed to illustrate the performance of the control strategy developed in the paper.

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Zhang, Qinghua, Xianmin Zhang, and Junyang Wei. "Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism." Shock and Vibration 2016 (2016): 1–17. http://dx.doi.org/10.1155/2016/4780181.

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An active vibration control experiment of planar 3-RRR flexible parallel robots is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT material, a general motion equation is established. A strain rate feedback controller is designed based on the established general motion equation. Four control schemes are designed in this experiment: three passive flexible links are controlled at the same time, only passive flexible link 1 is controlled, only passive flexible link 2 is controlled, and only passive flexible link 3 is controlled. The experimental results show that only one flexible link controlled scheme suppresses elastic vibration and cannot suppress the elastic vibration of the other flexible links, whereas when three passive flexible links are controlled at the same time, they are able to effectively suppress the elastic vibration of all of the flexible links. In general, the experiment verifies that a strain rate feedback controller is able to effectively suppress the elastic vibration of the flexible links of plane 3-RRR flexible parallel robots.

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Raouf, Fareh, Saad Mohamad, Saad Maarouf, and Bettayeb Maamar. "Distributed adaptive control strategy for flexible link manipulators." Robotica 35, no. 7 (2016): 1562–84. http://dx.doi.org/10.1017/s0263574716000448.

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SUMMARYThis paper presents an adaptive distributed control strategy for n-serial-flexible-link manipulators. The proposed adaptive controller is used for flexible-link-manipulators: (1) to solve the tracking control problem in the joint space, and (2) to reduce vibrations of the links. The dynamical model of flexible link manipulators is reorganized to take the form of n interconnected subsystems. Each subsystem has a one-joint and one-link pair. The system parameters are deemed to be unknown. The adaptive distributed strategy controls one subsystem in each step, starting from the last one. The nth subsystem is controlled by assuming that the remaining subsystems are stable. Then, proceeding backward to the (n-1)th system, the same strategy is applied, and so on, until the first subsystem is reached. The gradient-based estimator is used to estimate the parameters of each subsystem. The control law of the ith subsystem uses its own estimated parameters and the estimated parameters of all upper level subsystems. The global stability of the error dynamics is proved using Lyapunov approach. This algorithm was implemented in real time on a two-flexible-link manipulator, and a comparison with the non-adaptive version shows the effectiveness of this approach.

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SENDA, Kei, Yoshisada MUROTSU, Akira MITSUYA, Tatsuya NUNOHARA, and Keisuke YAMANE. "Control Experiments of One-Link Flexible Manipulator." Journal of the Robotics Society of Japan 11, no. 4 (1993): 593–96. http://dx.doi.org/10.7210/jrsj.11.593.

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SENDA, Kei, Yoshisada MUROTSU, Akira MITSUYA, Tatsuya NUNOHARA, and Keisuke YAMANE. "Control Experiments of Two-Link Flexible Manipulator." Journal of the Robotics Society of Japan 11, no. 4 (1993): 597–600. http://dx.doi.org/10.7210/jrsj.11.597.

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9

Akbarzadeh-T., M. R., and M. Jamshidi. "Evolutionary Fuzzy Control of a Flexible-Link." Intelligent Automation & Soft Computing 3, no. 1 (1997): 77–88. http://dx.doi.org/10.1080/10798587.1997.10750694.

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10

Davis, J. H., and R. M. Hirschorn. "Tracking control of a flexible robot link." IEEE Transactions on Automatic Control 33, no. 3 (1988): 238–48. http://dx.doi.org/10.1109/9.401.

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Dissertations / Theses on the topic "Flexible link control"

1

Yu, Sicheng. "Control of flexible-link manipulator." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/tape17/PQDD_0007/MQ33472.pdf.

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Moallem, Mehrdad. "Control and design of flexible-link manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/nq25930.pdf.

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Zouzias, Ioannis. "Control of a flexible one-link manipulator." Thesis, Monterey, California. Naval Postgraduate School, 1987. http://hdl.handle.net/10945/22224.

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Talebi, H. A. "Neural network-based control of flexible-link manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0020/NQ44866.pdf.

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McDonald, Brandeen. "Modeling and control of a flexible-link manipulator." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp05/MQ64726.pdf.

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Zain, Mohd Zarhamdy Md. "Modelling and intelligent control of flexible-link manipulators." Thesis, University of Sheffield, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.425486.

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Sun, Qiao. "Dynamics analysis of flexible-link cooperating manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1996. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/nq21951.pdf.

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Madani, Abdelmalek. "Modelling and control of a two-link flexible manipulator." Thesis, University of Sheffield, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.319485.

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Pessu, Ruth A. "Intelligent modelling and control of a flexible link manipulator." Thesis, University of Wolverhampton, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.307841.

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Fan, Tao. "Intelligent model predictive control of flexible link robotic manipulators." Thesis, University of British Columbia, 2007. http://hdl.handle.net/2429/31300.

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This thesis develops and evaluates an intelligent model predictive control (IMPC) strategy for motion control of a flexible link robotic manipulator through analysis, computer simulation, and physical experimentation. The developed IMPC is based on a two-level hierarchical control architecture. This control structure is used to combine the advantages of the conventional model predictive control (MPC) with those of knowledge-based soft control techniques. The upper level of the structure is a fuzzy-rule based intelligent decision-making system. The lower level consists of two modules: a real-time system identification module (which adjusts the model parameters and accommodates payload changes of the manipulator), and a model predictive control (MPC) module (which develops control inputs based on the linear model generated by the system identification module). The upper-level intelligent fuzzy rule-based tuner interacts with the lower level modules. Based on the desired system performance, the state feedback signals, and the knowledge base, the upper-level fuzzy tuner automatically adjusts the tuning parameters of the MPC controller. It is also able to adjust the model structure of the system-identification module, if necessary, to accommodate large model errors, and will increase the robustness of the controller. An explicit, complete, and accurate nonlinear dynamic model of the system is developed using the assumed mode method. More realistic boundary conditions, which represent the balance of moments and shear forces separately, at the ends of each link, are used for the dynamic model development of the system. A computationally efficient multi-stage MPC algorithm with guaranteed stability is developed as well. This algorithm is used by the MPC module to enable real-time implementation of the overall scheme. A fuzzy knowledge base for tuning the MPC controller is developed based on analysis, computer simulations and experimental testing of the prototype flexible-link manipulator system (FLMS). A fuzzy tuner is designed based on this fuzzy knowledge base. The performance of the developed IMPC scheme is evaluated using computer simulations and experiments of the prototype FLMS. The results show that IMPC can more effectively control the motion of a flexible link robot manipulator when compared with conventional MPC.<br>Applied Science, Faculty of<br>Mechanical Engineering, Department of<br>Graduate

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Books on the topic "Flexible link control"

1

V, Patel R., and Khorasani K. 1960-, eds. Flexible-link robot manipulators. Springer, 2000.

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2

Zouzias, Ioannis. Control of a flexible one-link manipulator. Naval Postgraduate School, 1987.

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3

Pessu, Ruth A. Intelligent modelling and control of a flexible link manipulator. University of Wolverhampton, 1996., 1996.

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4

Morris, A. S. Quadratic optimal control of a two-flexible-link robot manipulator. University, Dept. of Control Engineering, 1995.

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5

1953-, Leugering Günter, and Schmidt, E. J. P. G., 1940-, eds. Modelling, analysis, and control of dynamic elastic multi-link structures. Birkhäuser, 1994.

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6

Ramakrishnan, Srinivasan. Experimental identification and control of the tip position of a flexible, single link manipulator. University of California, Berkeley, 1985.

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7

1934-, Gibson John Sevier, and Langley Research Center, eds. Adaptive control of a manipulator with a flexible link. National Aeronautics and Space Administration, Langley Research Center, 1988.

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8

"Control of Flexible-link Manipulators Using Neural Networks". Springer, 2001.

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9

Control of flexible-link manipulators using neural networks. Springer London, 2001. http://dx.doi.org/10.1007/bfb0110411.

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10

Khorasani, K., H. A. Talebi, and R. V. Patel. Control of Flexible-link Manipulators Using Neural Networks. Springer, 2014.

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Book chapters on the topic "Flexible link control"

1

Rigatos, Gerasimos, and Krishna Busawon. "Flexible-Link Robots." In Studies in Systems, Decision and Control. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-77851-8_5.

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Zhu, Wen-Hong. "Control of Flexible Link Robots." In Springer Tracts in Advanced Robotics. Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-10724-5_13.

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Bhangal, Narinder Singh. "Robust Control of Flexible Link Manipulator." In Advances in Intelligent Systems and Computing. Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-0751-9_34.

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4

Fraser, Anthony R., and Ron W. Daniel. "Control design for the single-link arm." In Perturbation Techniques for Flexible Manipulators. Springer US, 1991. http://dx.doi.org/10.1007/978-1-4615-3974-2_5.

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Gu, Da-Wei, Petko H. Petkov, and Mihail M. Konstantinov. "Robust Control of a Flexible-Link Manipulator." In Robust Control Design with MATLAB®. Springer London, 2013. http://dx.doi.org/10.1007/978-1-4471-4682-7_17.

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Kruise, L., J. Van Amerongen, P. Löhnberg, and M. J. L. Tiernego. "Modeling and Control of a Flexible Robot Link." In Dynamics of Controlled Mechanical Systems. Springer Berlin Heidelberg, 1989. http://dx.doi.org/10.1007/978-3-642-83581-0_22.

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Boucetta, R., S. Hamdi, and S. Bel Hadj Ali. "Flexible-Link Manipulators: Dynamic Analysis and Advanced Control Strategies." In New Trends in Robot Control. Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-1819-5_2.

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Xin, Xin, and Yannian Liu. "2-Link Underactuated Robot with Flexible Elbow Joint." In Control Design and Analysis for Underactuated Robotic Systems. Springer London, 2014. http://dx.doi.org/10.1007/978-1-4471-6251-3_9.

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Staufer, Peter, and Hubert Gattringer. "Passivity-Based Tracking Control of a Flexible Link Robot." In Multibody System Dynamics, Robotics and Control. Springer Vienna, 2012. http://dx.doi.org/10.1007/978-3-7091-1289-2_6.

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Wang, Baigeng, Shurong Li, and Zhe Liu. "Robust Adaptive Position/Force Control for Flexible-Link with Flexible-Joint Manipulator." In Proceedings of the 11th International Conference on Modelling, Identification and Control (ICMIC2019). Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-15-0474-7_114.

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Conference papers on the topic "Flexible link control"

1

Tzes, Anthony P., and Stephen Yurkovich. "Flexible-Link Manipulator Force Control." In 1990 American Control Conference. IEEE, 1990. http://dx.doi.org/10.23919/acc.1990.4790727.

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2

Cyril, X., J. Angeles, and A. K. Misra. "Flexible-Link Robotic Manipulator Dynamics." In 1989 American Control Conference. IEEE, 1989. http://dx.doi.org/10.23919/acc.1989.4790581.

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Shihabudheen, K. V., and Jeevamma Jacob. "Composite control of flexible link flexible joint manipulator." In 2012 Annual IEEE India Conference (INDICON 2012). IEEE, 2012. http://dx.doi.org/10.1109/indcon.2012.6420732.

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Khorrami, Farshad, and Shihua Zheng. "Vibration Control of Flexible-link Manipulators." In 1990 American Control Conference. IEEE, 1990. http://dx.doi.org/10.23919/acc.1990.4790724.

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Duarte, Franklyn, and Christian Bohn. "Modeling and centralized sliding mode control of a two-flexible-link robot." In 2016 UKACC 11th International Conference on Control (CONTROL). IEEE, 2016. http://dx.doi.org/10.1109/control.2016.7737640.

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Wagner-Nachshoni, Clarice, and Yoram Halevi. "Control of Two-Link Flexible Structures." In ASME 7th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2004. http://dx.doi.org/10.1115/esda2004-58118.

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A method of noncollocated controller design for non-uniform flexible structures, governed by the wave equation, is proposed. An exact, infinite dimensional, transfer function, relating the actuation and measurement points, with general boundary conditions, is derived for the multi-link case. Three modeling methods are presented and discussed. A key element of the model is the existence of time delays, due to the wave motion, which play a major role in the controller design. The design consists of two stages. First an inner rate loop is closed in order to improve the system dynamic behavior. It leads to a finite dimensional plus delay inner closed loop, which is the equivalent plant for the outer loop. In the second stage an outer noncollocated position loop is closed. It has the structure of an observer–predictor control scheme to compensate for the response delay. The resulting overall transfer function is second order, with arbitrarily assigned dynamics, plus delay.

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Qingxuan, Jia, Zhang Xiaodong, Sun Hanxu, and Chu Ming. "Active Control of Space Flexible-Joint/Flexible-Link Manipulator." In 2008 IEEE Conference on Robotics, Automation and Mechatronics (RAM). IEEE, 2008. http://dx.doi.org/10.1109/ramech.2008.4681344.

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SASIADEK, J., and K. MIN. "Control of a two-link flexible manipulator." In Guidance, Navigation and Control Conference. American Institute of Aeronautics and Astronautics, 1989. http://dx.doi.org/10.2514/6.1989-3563.

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Nikpay, N., M. Aliyari Shoorehdeli, and M. Teshnehlab. "Neuro-fuzzy control of Quanser flexible link." In 2011 11th International Conference on Hybrid Intelligent Systems (HIS 2011). IEEE, 2011. http://dx.doi.org/10.1109/his.2011.6122145.

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Kanoh, Hideaki, and Ho Lee. "Vibration control of one-link flexible arm." In 1985 24th IEEE Conference on Decision and Control. IEEE, 1985. http://dx.doi.org/10.1109/cdc.1985.268687.

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Reports on the topic "Flexible link control"

1

Cannon, Robert H., Rock Jr., Ballhaus Stephen M., Wilson Bill, and Ed. High-Performance Control of Multi-Link Flexible Articulated Space Structures. Defense Technical Information Center, 1993. http://dx.doi.org/10.21236/ada268857.

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Jansen, J. F. Control and analysis of a single-link flexible beam with experimental verification. Office of Scientific and Technical Information (OSTI), 1992. http://dx.doi.org/10.2172/7121745.

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Jansen, J. F. Control and Analysis of a Single-Link Flexible Beam with Experimental Verification. Office of Scientific and Technical Information (OSTI), 1992. http://dx.doi.org/10.2172/814396.

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Ballhaus, William L. Experiments in High-Performance Control of a Multi Link Flexible Manipulator With a Mini-Manipulator. Defense Technical Information Center, 1996. http://dx.doi.org/10.21236/ada309675.

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Jansen, J. F. Control and analysis of a single-link flexible beam with experimental verification. Robotics Technology Development Program. Office of Scientific and Technical Information (OSTI), 1992. http://dx.doi.org/10.2172/10110160.

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Feliu, Vicente, Kuldip S. Rattan, Jr Brown, and H. B. A New Approach to Control Single-Link Flexible Arms. Part 3. Adaptive Control of the Tip Position with Payload Changes. Defense Technical Information Center, 1989. http://dx.doi.org/10.21236/ada213337.

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Feliu, Vicente, Kuldip S. Rattan, Jr Brown, and H. B. A New Approach to Control Single-Link Flexible Arms. Part 2. Control of the Tip Position in the Presence of Joint Friction. Defense Technical Information Center, 1989. http://dx.doi.org/10.21236/ada213365.

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Feliu, Vicente, Kuldip S. Rattan, Jr Brown, and H. B. A New Approach to Control Single-Link Flexible Arms. Part 1. Modelling and Identification in the Presence of Joint Friction. Defense Technical Information Center, 1989. http://dx.doi.org/10.21236/ada210590.

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