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Dissertations / Theses on the topic 'Flexible link control'

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Published: 4 June 2021

Last updated: 6 February 2022

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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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2

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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3

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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4

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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5

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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6

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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7

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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8

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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9

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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10

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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11

Lee, Soo Han. "Robust control of a flexible link robot and rigid link robot: theory, simulation, and experiment." Diss., Georgia Institute of Technology, 1992. http://hdl.handle.net/1853/16042.

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12

Bo, Xu, Kenji Fujimoto, and Yoshikazu Hayakawa. "Control of two-link flexible manipulators via generalized canonical transformation." IEEE, 2004. http://hdl.handle.net/2237/6852.

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13

Yazdanpanah, Mohammad J. "Control of flexible-link manipulators using nonlinear H[infinity] techniques." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0006/NQ39789.pdf.

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14

Rieber, Jochen M. "L₂-gain based control of a flexible parameter-varying robot link." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/20918.

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15

Obergfell, Klaus. "End-point position sensing and control of flexible multi-link manipulators." Diss., Georgia Institute of Technology, 1998. http://hdl.handle.net/1853/18198.

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16

Feng, Chieh-Chuan. "Sliding control design and implementation on a single-link flexible arm." Thesis, Monterey, California : Naval Postgraduate School, 1990. http://handle.dtic.mil/100.2/ADA242714.

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Thesis (M.S. in Mechanical Engineering and Mechanical Engineer)--Naval Postgraduate School, December 1990.<br>Thesis Advisor(s): Chang, Liang-Wey. "December 1990." Description based on title screen as viewed on March 30, 2010. DTIC Identifier(s): Sliding Mode Control Systems, Sliding control Algorithms, Program Listings, Theses. Author(s) subject terms: Sliding Mode Control, Flexible Arm, Control of Flexible Arm, Uncertainty. Includes bibliographical references (p. 116). Also available in print.

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17

Lewis, Jeremy. "A steady state tip control strategy for long reach robots." Thesis, Middlesex University, 1996. http://eprints.mdx.ac.uk/13569/.

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The work presented in this thesis describes the development of a novel strategy for the steady state tip position control of a single link flexible robot arm. Control is based upon a master/slave relationship. Arm trajectory is defined by through 'master' positioning head which moves a laser through a programmed path. Tip position is detected by an optical system which produces an error signal proportional to the displacement of the tip from the demand laser spot position. The error signal and its derivative form inputs to the arm 'slave' controller so enabling direct tip control with simultaneous correction for arm bending. Trajectory definition is not model-based as it is defined optically through movement of the positioning head alone. A critical investigation of vacuum tube and solid state sensing methods is undertaken leading to the development of a photodiode quadrant detector beam tracking system. The effect of varying the incident light parameters on the beam tracker performance are examined from which the optimum illumination characteristics are determined. Operational testing of the system on a dual-axis prototype robot using the purpose-built beam tracker has shown that successful steady state tip control can be achieved through a PD based slave controller. Errors of less than 0.05 mm and settling times of 0.2 s are obtained. These results compare favourably with those for the model-based tip position correction strategies where tracking errors of ± 0.6 mm are recorded.

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18

Flowers, George Timothy. "Documentation and development of a control system for a single link flexible manipulator arm." Thesis, Georgia Institute of Technology, 1985. http://hdl.handle.net/1853/16673.

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19

Ahmed, Ahmed Fattah Ahmed [Verfasser]. "Intelligent Control of Flexible Manipulator Link with Friction / Ahmed Fattah Ahmed Ahmed." Aachen : Shaker, 2013. http://d-nb.info/1051570700/34.

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20

Obergfell, Klaus. "A vision-based end-point control for a two-link flexible manipulator." Thesis, Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/17654.

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21

Sutton, Roland Paul. "The control and modelling of a highly flexible single link robot arm." Thesis, University of Leeds, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.440531.

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22

Padilla, Carlos E. "Performance limits and robustness issues in the control of flexible link manipulators." Thesis, Massachusetts Institute of Technology, 1992. http://hdl.handle.net/1721.1/42531.

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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1992.<br>Includes bibliographical references (leaves 179-186).<br>by Carlos Eduardo Padilla Santos.<br>Ph.D.

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23

Chen, Jian-Shiang. "Dynamic modeling and payload-adaptation control of a flexible one-link manipulator /." The Ohio State University, 1989. http://rave.ohiolink.edu/etdc/view?acc_num=osu148767110830783.

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24

Dong, Yuan. "Dynamic analysis and position control of a single flexible-link flexible-joint robot manipulator using time delay." Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27126.

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In this thesis, a position control system for a single flexible-link flexible-joint (FLFJ) manipulator has been developed. It is presented in three parts: dynamic modeling and analysis, control system design, and experimental analysis of the designed control system. The assumed modes method and the Lagrange approach were combined to derive a dynamic model of the single FLFJ manipulator and then this model was linearized about zero deflection for both the flexible joint and the flexible link. The resulting linear dynamic model was used for the dynamic analysis and control system design. Equations of motion and their analytical solutions were derived for the single FLFJ manipulator at any rotation angle. The effects of the relative stiffness of the joint with respect to the link on the dynamic characteristics and open-loop responses of the single FLFJ manipulator were investigated based on the linear model. It was found that the higher order frequencies of the manipulator increased monotonically with the increments of the joint stiffness, while the lower order ones kept almost unchanged. This demonstrates that the higher order frequencies were more sensitive to the interaction between the flexible link and the flexible joint. A time-Delayed Feedback Signal (DFS) controller was applied to the single FLFJ manipulator and the effect of the time delay on the stability of the system was examined. (Abstract shortened by UMI.)

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25

Lee, Jeh Won. "Dynamic analysis and control of light weight manipulators with flexible parallel link mechanisms." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15989.

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26

Christoforou, Eftychios G. "The control of flexible-link robots carrying large payloads : from theory to experiments." Thesis, University of Canterbury. Mechanical Engineering, 1999. http://hdl.handle.net/10092/6154.

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Robotics is a very large engineering field with a wide and constantly expanding range of applications. Apart from its economic significance, the elegant nature of the problem and its multidisciplinary character make it a most interesting as well as challenging field of study. Flexible-link robots in particular, constitute one of the richest and at the same time most difficult problems ever encountered in the field. Conventional rigid-link robots, both in terms of dynamic analysis and control, can be viewed as a special case of flexible ones which results from suppressing the elastic configuration dependence. Flexible-link robots have already been employed in space operations and a large potential is seen for a new generation of flexible robots to be used in earth-based applications. Such robots are endowed with certain attractive features but at the same time flexibility affects both their tracking and positioning capabilities and dramatically complicates the control problem. The control of flexible-link robots, which constitutes an engineering challenge, is the key to their success. The present thesis deals with the control problem for flexible multilink robots manipulating large payloads, which is a case that commonly occurs in a space robotic manipulation scenario. Before the control problem is actually tackled, both the dynamics and control problems are reviewed in detail and the current state of technology in the field is surveyed. Then, building on previous research, solutions to the problem are proposed and thoroughly investigated. In particular, a model-based control technique is considered together with its adaptive counterpart, which is able to deal with the problem of uncertainty in the mass properties. Both schemes belong to a family of controllers called passivity-based, which by nature exhibit good robustness characteristics. Apart from the theoretical results and the extensive simulation studies that were involved in the research, one further step was taken with the actual hardware implementation of the proposed control techniques. The experimental work involved a specially designed robotics facility which will be described in detail. Case studies will be presented in order to demonstrate the applicability and the value of the controllers, provide insight into their nature and investigate their characteristics. Because of the multidisciplinary nature of the problem, the thesis involves the integration of knowledge from various scientific areas such as dynamics, control, sensor technology, mechanical design, materials science, etc.

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27

Rokui, Mohammad Reza. "Adaptive control of nonlinear discrete-time systems and its application to control of a flexible-link manipulator." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0003/NQ39786.pdf.

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28

Register, Andrew H. "The application of artificial neural networks for end-point trajectory control of flexible-link manipulators." Diss., Georgia Institute of Technology, 1997. http://hdl.handle.net/1853/32802.

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29

Trutter, H. Benjamin. "A Finite Element Method for Linear Modeling and Control of a Single Flexible Link Robotic Manipulator." Thesis, Southern Illinois University at Edwardsville, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1560924.

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<p> A linear finite element procedure is presented for modeling a single flexible link robotic manipulator system. The model takes into consideration the DC motor, torsional springs/dampers, cantilever beam and the accelerometer at the tip. The finite element method for system modeling is validated through comparison to experimental data using the frequency response. With a validated model for the system, feedback control is implemented for vibration reduction and accurate positioning of the beam tip. The accuracy of the controlled model is compared to experiment and a discrete time transfer matrix method of modelling. The closed-loop finite element method model exhibited an accurate response, related to experiment, with encoder feedback and accelerometer feedback using digital compensators</p>

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30

Duarte, Vera Franklyn Gerardo Verfasser], and Christian [Akademischer Betreuer] [Bohn. "Modeling and sliding-mode control of flexible-link robotic structures for vibration suppression / Franklyn Gerardo Duarte Vera ; Betreuer: Christian Bohn." Clausthal-Zellerfeld : Technische Universität Clausthal, 2016. http://d-nb.info/1231365099/34.

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31

Abiakel, Elio. "Development of an undergraduate laboratory course in control systems." Columbus, Ohio : Ohio State University, 2003. http://rave.ohiolink.edu/etdc/view?acc%5fnum=osu1079732873.

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Thesis (M.S.)--Ohio State University, 2003. Thesis (Ph. D.)--Ohio State University, 2003.<br>Advisor: Stephen Yurkovich, Dept. of Electrical Engineering. Title from first page of PDF file. Document formatted into pages; contains p.; also contains graphics (some col.). Includes abstract and vita. Includes bibliographical references (leaf 187).

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32

Kanj, Matthieu. "Intelligent supervision of flexible optical networks." Thesis, Rennes 1, 2016. http://www.theses.fr/2016REN1S138/document.

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Les réseaux optiques dynamiques et flexibles font partie des scénarios d'évolution des réseaux de transport optique. Ceux-ci formeront la base de la nouvelle génération des réseaux optiques de demain et permettront le déploiement efficace des services tel que le Cloud Computing. Cette évolution est destinée à apporter flexibilité et automatisation à la couche optique, mais s'accompagne d'une complexité supplémentaire, notamment au niveau de la gestion et de la commande de cette toute nouvelle génération de réseau. Jusqu'à récemment, les protocoles de routage et de signalisation normalisés ont pris en compte plusieurs paramètres physiques tels que l'information spectrale de la bande passante, le format de modulation, et la régénération optique. Cependant, d'autres paramètres sont encore nécessaires (par exemple, les puissances optiques des liens, le gain des amplificateurs) afin de faire fonctionner efficacement de grands réseaux. Dans ce contexte, il y a un besoin d'étudier les réseaux optiques existants ainsi que les différentes méthodes de prise en compte de la couche photonique dans le plan de contrôle. Le but est d'avoir un réseau optique automatique, flexible et programmable, mais surtout efficace de point de vue économique et opérationnel. L'utilisation de la technologie à grille flexible a un impact sur les réseaux optiques existants, où presque tous les équipements devront être remplacés, ce qui entraînera un coût additionnel pour les opérateurs. Dans ce travail, nous étudions les réseaux optiques actuels et évaluons l'impact de la flexibilité sur les infrastructures existantes. Ensuite, nous identifions plusieurs paramètres optiques à contrôler et proposons des extensions protocolaires afin d'intégrer ces paramètres dans un plan de contrôle GMPLS. De plus, nous développons les algorithmes de routage et de signalisation qui permettent la mise en œuvre d'un plan de contrôle efficace qui répond au besoin de la flexibilité. Enfin, l'ensemble de nos propositions et de nos solutions sont évaluées sur plusieurs topologies réseaux avec des modèles de trafic différents dans le but de valider leur pertinence<br>Dynamic and flexible optical networks are among the evolution scenarios of the optical transport networks. These form the basis of the new generation of optical networks of tomorrow and enable the effective deployment of services such as cloud computing. This evolution is intended to provide flexibility and automation to the optical layer. However, it results in additional complexity, particularly in terms of the management and control of this new network generation. Until recently, the standardized routing and signaling protocols have been taking into account several optical parameters like the spectral bandwidth information, modulation format, and optical regeneration. However, other parameters (e.g., link optical powers, gain of optical amplifiers) are still required in order to efficiently operate large optical networks. In this context, there is a need to study the existing optical networks and the different integration methods of the photonic layer in a control plane. The goal is to get an automatic optical network that is flexible, programmable, and at the same time efficient from an economical and operational perspective. The use of flexible grid technology has an impact on existing optical networks, where almost all the equipment must be replaced, resulting in an additional cost to network operators. In this work, we study the current optical networks and evaluate the impact of flexibility on the existing infrastructures. Then, we identify several physical parameters to be controlled and propose protocol extensions in order to integrate these parameters in the GMPLS control plane. In addition, we develop the routing and signaling algorithms that allow the implementation of an efficient control plane that addresses the need for flexibility. Finally, the set of our proposals and solutions are evaluated on multiple network topologies with different traffic patterns in order to validate their relevance

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33

Farah, Jacques. "Développement d'une loi de commande avancée pour la maitrise des vibrations des robots sériels à liaisons flexibles." Thesis, Université Clermont Auvergne‎ (2017-2020), 2019. http://www.theses.fr/2019CLFAC002/document.

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De nos jours, les exigences en productivité dans le monde industriel imposent aux robots un comportement optimal en termes de précision géométrique et dynamique, et en termes de temps de réponse. Ainsi, la présence des flexibilités dans les liaisons pivots des structures mécaniques légères se déplaçant à grande vitesse et sous charges importantes peut limiter dynamiquement la précision et le temps de stabilisation sur la pose finale du robot. La problématique traitée dans ces travaux concerne la maîtrise des vibrations des robots sériels à liaisons flexibles durant les opérations de prise et dépose (Pick and Place).Dans ces travaux, nous effectuons une modélisation et une identification expérimentale des paramètres géométriques et dynamique d’un robot à liaisons flexible. Ce modèle sera utilisé dans la synthèse d’une loi de commande basée modèle dédiée aux robots à flexibilité articulaire. Cette stratégie permet de réduire les vibrations lors des phases exigeantes dynamiquement. Des simulations sur un robot Scara sont alors conduites pour valider la pertinence de cette loi de commande qui intègre un modèle des flexibilités présentes dans les liaisons pivots dans le schéma de commande. Nous appliquons sur le même simulateur du robot à liaisons flexibles trois autres stratégies de commande afin de faire une comparaison (commande PD, commande dédiée aux robots rigides et commande ne considérant pas les amortissements). Le schéma de la loi de commande basée modèle permet de respecter la précision de pose finale avec une diminution du temps de stabilisation. Finalement, Le calcul de l’erreur d’asservissement nous a permis de constater l’influence des erreurs de modélisation de la flexibilité sur la précision de la tâche. Dans ce contexte, une analyse de sensibilité aux paramètres influents est établie<br>Nowadays, the demand of productivity in the industrial world of robotics require robots to behave optimally in terms of geometric and dynamic accuracy and response time. Thus, the presence of flexibilities in rotational joints can dynamically limit the position control of manipulators having lighter arms, higher payload-to-weight ratio and doing tasks at high speed. The problem addressed in this work concerns the vibration control of serial robots with flexible joints performing Pick and Place tasks. In this work, we carry out modelling and experimental identification of the geometric and dynamic parameters of a robot with flexible joints. This model is then used in the synthesis of a model-based control law dedicated to manipulators with flexible joints. This strategy reduces vibrations resulting from joints sensitivity during dynamically demanding phases. Simulations on a Scara robot are then conducted to validate the relevance of the proposed control law which integrates joint flexibilities in the form of a feedback loop in the control diagram. To this end, three other control strategies (PD control, control dedicated to rigid structures and control not considering damping) are applied to the same simulator in order to make a comparative analysis. The diagram of the model-based control law allows to respect the set point with a reduction in the stabilization time.Finally, the calculation of the servo error allowed us to see the influence of flexibility modeling errors on the accuracy of the task. In this context, the sensitivity of this control law is evaluated through a sensitivity analysis

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34

Subudhi, Bidyadhar. "Modelling and control strategies for manipulators with flexible links and joints." Thesis, University of Sheffield, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.251506.

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35

Jacques, Robert Normand. "On-line system indentifcation and control design for flexible strctures." Thesis, Massachusetts Institute of Technology, 1994. http://hdl.handle.net/1721.1/11942.

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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1994.<br>GRSN 684487<br>Includes bibliographical references (p. 235-244).<br>by Robert N. Jacques.<br>Ph.D.

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36

Solatges, Thomas. "Modélisation, conception et commande de robots manipulateurs flexibles. Application au lancement et à la récupération de drones à voilure fixe depuis un navire faisant route." Thesis, Toulouse, ISAE, 2018. http://www.theses.fr/2018ESAE0012/document.

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Les robots manipulateurs sont généralement des machines rigides, conçues pour que leurflexibilité ne perturbe pas leurs mouvements. En effet, des flexibilités mécaniques importantesdans la structure d’un système introduisent des degrés de liberté supplémentaires dont le comportementest complexe et difficile à maîtriser. Cependant, la réduction de la masse d’un systèmeest bénéfique du point de vue des coûts, de la performance énergétique, de la sécurité et des performancesdynamiques. Afin de faciliter l’accès aux nombreux avantages d’une structure légèremalgré la présence de fortes flexibilités, cette thèse porte sur la modélisation, la conception et lacommande de robots manipulateurs flexibles. Elle est motivée par le projet YAKA, dont l’applicationest le lancement et la récupération de drones à voilure fixe depuis un navire faisant route.Cette application nécessite une importante dynamique sur un vaste espace de travail, bien au-delàdes spécifications des robots rigides classiques. Les outils de modélisation, de conception et decommande proposés prennent en compte la flexibilité des segments et des articulations, pour unnombre quelconque de degrés de liberté et de segments flexibles. Le modèle dynamique flexibleest obtenu par le formalisme de Lagrange, les poutres flexibles sont représentées par le modèled’Euler-Bernoulli. Le schéma de commande proposé se décompose en une inversion de modèledynamique rigide et un bloc de précommande par Input Shaping adapté aux robots manipulateursflexibles. Les outils de conception proposés permettent de baser le processus de conceptionsur des performances prédites du système complet muni de ses actionneurs et de son contrôleuravec une simulation réaliste. Les validations expérimentales effectuées sur le robot YAKA permettentde valider la pertinence de la démarche suivie. Les résultats du projet YAKA confirment lafaisabilité de la mise en oeuvre d’un robot flexible de grande envergure et à forte dynamique dansun contexte industriel, en particulier pour le lancement et la récupération d’un drone à voilurefixe depuis un navire faisant route<br>Robot manipulators are generally stiff machines, designed in a way that flexibility does not affecttheir movements. Indeed, significant flexibility introduces additional degrees of freedom witha complex behavior. However, reducing the mass of a system allows for costs, performance, andsafety improvements. In order to allow those benefits despite important flexibility, this thesis focuseson modeling, design and control of flexible robot manipulators. It is motivated by the YAKAproject, which aims at developing a robot to launch and recover fixed wing UAVs from a movingship. It implies reaching very high dynamics on a large workspace, way beyond the specificationsof common rigid robots. The proposed tools for modeling, design and control allow for taking intoaccount both joint and link flexibility, for any number of degrees of freedom and flexible links.The elastodynamic model is obtained with Lagrange principle, each flexible link being representedwith one ormany Euler-Bernouilli beams. The proposed control scheme uses a nonlinear rigiddynamic inversion and extends classical Input Shaping techniques to flexible robot manipulators.The proposed design tools allow for performance prediction of the system including its actuatorsand controllers thanks to a realistic simulation. Experiments conducted with the YAKA robot validatedthe proposed approach. The results of the YAKA project confirmed the feasibility of usinga large scale, highly dynamic flexible robot in an industrial context, in particular for UAVs launchand recovery operations from amoving ship

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37

Kilicaslan, Sinan. "Unconstrained Motion And Constrained Force And Motion Control Of Robots With Flexible Links." Phd thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/3/12606011/index.pdf.

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New control methods are developed for the unconstrained motion and constrained force and motion control of flexible robots. The dynamic equations of the flexible robots are partitioned as pseudostatic equilibrium equations and deviations from them. The pseudostatic equilibrium considered here is defined as a hypothetical state where the tip point variables have their desired values while the modal variables are instantaneously constant. Then, the control torques for the pseudostatic equilibrium and for the stabilization of the deviation equations are formed in terms of tip point coordinates, modal variables and contact force components. The performances of the proposed methods are illustrated on a planar two-link robot and on a spatial three-link robot. Unmodeled dynamics and measurement noises are also taken into consideration. Performance of the proposed motion control method is compared with the computed torque method.

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38

Cho, Kyung Sang. "Feedback control of planar mechanisms with structurally-flexible links : theory and experiments." Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=29000.

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The motion control of mechanical systems with flexible links is investigated. Issues addressed are the modelling and simulation of such systems, the design of a feedback control scheme and its implementation on an actual system. The modelling method used is a combination of a spline-based spatial discretization technique, which allows a definition of the state-variable vector as the set of curvature values at the supporting points of the spline and their time-rates of change, and the natural orthogonal complement of the kinematic constraints that eliminates the constraint forces and moments from the mathematical model. The control algorithm consists of two parts, namely, the decoupling of nonlinear equations of motion and the filtering of non-working constraint forces. The former is achieved using the unconstrained equations of motion, expressed in terms of extended generalized coordinates with which the motion of each separate link is defined. The latter is accomplished using the fact that the constraint forces thus introduced indeed lie in the nullspace of the transpose of the NOC. This control scheme is implemented on a prototype four-bar flexible mechanism. Strain gauges are used to measure link curvature at the supporting points of the spline, while the time-rate of change of curvature is estimated with a Kalman filter. Moreover, the angle of rotation of the input link and its time-rate of change are measured and then used to infer the rest of the rigid-body motions. Results show that the proposed control scheme provides successful trajectory tracking while suppressing the vibration triggered by a doublet-type of disturbance. This disturbance is induced by the singularities of the mechanism coupled with the rapid inertia changes. While the main motivation of this study is the control of robotic manipulators with long and slender links, typically found in space applications, the results presented are applicable to the control of a much broader class of mechan

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39

Murray, Nicholas John. "Flexible Power control in Large Power Current Source Conversion." Thesis, University of Canterbury. Electrical and Computer Engineering, 2008. http://hdl.handle.net/10092/2610.

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This thesis describes a new concept, applicable to high-power current-sourced conversion (CSC), where a controllable ﬁring-angle shift is introduced between series and parallel converters to enable independent active and reactive power control. The ﬁring-shift concept solves a difficult problem, by giving thyristor based CSCs the control ﬂexibility of pulse-width modulated (PWM) converters, but without a loss in efficiency or rating. Several conﬁgurations are developed, based on the ﬁring-shift concept, and provide ﬂexible, eﬃcient solutions for both very high power HVDC transmission, and very high current industrial processes. HVDC transmission conﬁgurations are ﬁrst developed for 4-quadrant high-pulse operation, based on the series connected multi-level current reinjection (MLCR) topology. Independent reactive power control between two ends of an HVDC link are proven under ﬁring-shift control, with high-pulse operation, and without on-load tap changing (OLTC) transformers. This is followed by application of ﬁring-shift control to a bi-directional back-to-back HVDC link connecting two weak systems to highlight the added dc voltage control ﬂexibility of the concept. The fault recovery capability of an MLCR based ultra-HVDC (UHVDC) long distance transmis-sion scheme is also proven under ﬁring-shift control. The scheme responds favourably to both ac disturbances and hard dc faults, without the risk of commutation failures and instability experienced during fault recovery of line-commutated conversion. The two-quadrant capability of very high current rectiﬁcation is also proven with conﬁgurations based on phase-shifted 12-pulse and MLCR parallel CSCs. The elimination of the electro-mechanical OLTC/satruable reactor voltage control, the high-current CSC’s biggest shortcoming, greatly improves controllability and with ﬁring-shift control, ensures high power-factor for all load conditions. This reduces the reactive power demands on the transmission system, which results in more eﬃcient power delivery

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Ho, John Kin Lim. "Some object-oriented design and software control methods of a flexible material handling system, operating in a CIM environment." Thesis, University of East London, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.282914.

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Jansen, van Nieuwenhuizen Rudolph Johannes. "Development of an automated robot vision component handling system." Thesis, Bloemfontein : Central University of Technology, Free State, 2013. http://hdl.handle.net/11462/213.

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Thesis (M. Tech. (Engineering: Electrical)) -- Central University of technology, Free State, 2013<br>In the industry, automation is used to optimize production, improve product quality and increase profitability. By properly implementing automation systems, the risk of injury to workers can be minimized. Robots are used in many low-level tasks to perform repetitive, undesirable or dangerous work. Robots can perform a task with higher precision and accuracy to lower errors and waste of material. Machine Vision makes use of cameras, lighting and software to do visual inspections that a human would normally do. Machine Vision is useful in application where repeatability, high speed and accuracy are important. This study concentrates on the development of a dedicated robot vision system to automatically place components exiting from a conveyor system onto Automatic Guided Vehicles (AGV). A personal computer (PC) controls the automated system. Software modules were developed to do image processing for the Machine Vision system as well as software to control a Cartesian robot. These modules were integrated to work in a real-time system. The vision system is used to determine the parts‟ position and orientation. The orientation data are used to rotate a gripper and the position data are used by the Cartesian robot to position the gripper over the part. Hardware for the control of the gripper, pneumatics and safety systems were developed. The automated system‟s hardware was integrated by the use of the different communication protocols, namely DeviceNet (Cartesian robot), RS-232 (gripper) and Firewire (camera).

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Meira, Marcelo da Silva. "Otimização de produção de uma linha de montagem mista na indústria automotiva por meio de programação matemática." Universidade Tecnológica Federal do Paraná, 2015. http://repositorio.utfpr.edu.br/jspui/handle/1/1892.

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Este trabalho utiliza a Programação Linear Inteira Mista (MILP) para investigar as diferenças de produtividade encontradas em uma Linha de Montagem de Modelo Misto. A abordagem de solução foi através da construção e resolução de modelos matemáticos do problema de balanceamento de linhas de montagem de modelo misto (MALBP – Mixed-Model Assembly Line Balancing Problem), seguido do problema de sequenciamento de carros (PSC – Car Sequencing Problem). Uma simulação discreta foi utilizada para verificar os resultados dos modelos matemáticos. O estudo relata o caso real de uma linha de montagem da indústria automotiva das partes móveis das carrocerias de três diferentes veículos compartilhando a mesma linha de produção. A linha de produção é caracterizada como baixa cadência (de até 15 veículos/hora) e totalmente manual. A linha é constituída por mesas de rolos em série onde o acionamento é do tipo de passo não sincronizado. O objetivo é investigar como manter o melhor nível de produtividade da linha de produção e, ao mesmo tempo, manter a característica de flexibilidade para atender a uma demanda variável em volume e diversidade de produto. São apresentados resultados desse trabalho que indicam que é possível a obtenção de alguns balanceamentos flexíveis para alguns mixes de produtos, o que permite manter a diferença nos tempos de produção no limite de 6%, para esta correta combinação de balanceamento-sequenciamento. No entanto, verificando as demais combinações possíveis para os seis mixes de produtos avaliados, o tempo de produção apresentou diferenças de até 19%, dependendo da sequência de entrada dos produtos para um certo mix. Outro fator que também ocasionou diferenças dos tempos produtivos, de 20% em média, foi em relação a alocação/ausência de postos pulmões (buffers). O horizonte da análise, a priori, foi de um lote de produção de uma hora para o modelo matemático e de uma semana de produção para o modelo de simulação discreta. Os resultados obtidos no estudo indicam que é possível operar uma linha de montagem flexível com uma produtividade equiparável a linhas de montagem de único modelo, se cuidados relativos ao balanceamento e sequenciamento produtivos forem observados. Por outro lado, se as condições operacionais de balanceamento e sequenciamento para as linhas de montagem de modelos/produtos mistos não forem consideradas, as perdas acumuladas na taxa de produção podem ser significativas (por exemplo, tempos de produção para algumas condições de teste ultrapassaram em 30% o valor teórico estimado).<br>This work uses Mixed Integer Linear Programming (MILP) to investigate productivity differences found in a Mixed-Model Assembly Line. The solution approach was based on construction and resolution of mathematical models for the Mixed-Model Assembly Line Balancing Problem (MALBP), followed by the Car Sequencing Problem (CSP). A discrete simulation was used to check the results obtained by the mathematical models. The study reports the real case of an automotive metal line that assemblies the closures of three different vehicles, sharing the same production line. The production line is characterized as low cadence (e.g., up to 15 vehicles/hour) and fully manual. The line is formed by roller tables in series with unpaced devices. The main objective is to investigate how to maintain productivity, while maintaining the flexibility characteristic to meet a variable demand in volume and product diversity. Results of this study are presented and indicate that some flexible balancing mixes are viable. Production time differences of no more than 6% were observed in such flexible choices. However, the checking of some possible combinations for the six mixes of evaluated products showed a production time difference up to 19%, depending on the sequence of products for a certain mix. Another factor that also influenced production time differences, 20% on average, was the allocation of buffers. The horizon of analysis encompasses a lot of production of one hour, to the mathematical model, and a week for discrete simulation. The obtained results indicate that it is possible to operate a flexible assembly line with a level of productivity similar to a single product line, in case of careful choices in balancing/sequencing. On the other hand, if the operating conditions of balancing and sequencing were not taken into account the cumulative loss in throughput may be significant (e.g., for some studied cases, production time exceed 30% the theoretical value).

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43

Al-Ghanem, Khaled. "Learning control and repetitive control of flexible planar variable input speed linkages mechanisms /." Diss., 2004. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:3154552.

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44

Geniele, Howard. "Control of a flexible-link manipulator." Thesis, 1994. http://spectrum.library.concordia.ca/2859/1/MM97584.pdf.

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This thesis focuses on the tip-position control of a single flexible link which rotates in the horizontal plane. It offers an original design for an experimental test-bed to implement and assess the performance of the controller.

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45

Moallem, Mehrdad. "Control and design of flexible-link manipulators." Thesis, 1996. http://spectrum.library.concordia.ca/240/1/NQ25930.pdf.

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The control of non-minimum phase systems remains an important open problem in nonlinear control, finding relevance in the control of underactuated and flexible systems. One wishes to cause the output of a dynamical system to track a desired trajectory while maintaining internal stability of a nominally unstable system. In this regard, motion control of structurally flexible robotic manipulators has drawn the attention of robotics researches in the past few years. These robots find applications in space, underwater, and high speed energy efficient manipulation. This dissertation aims to address two important issues regarding flexible link manipulators: Control design, and structural shape design. In this regard, two control strategies are considered. The first one is based on the concept of integral manifolds in singular perturbation theory, and the second is based on input-output decoupling in nonlinear systems theory. The practical implementation issues for the former require the inconvenient measurement of flexural rates. An observation strategy is proposed to circumvent this problem. Experimental evaluation of the control strategies are carried out on a setup constructed in the laboratory. Furthermore, structural shape optimization is considered as a means to improve the dynamic behavior. In this regard, an optimization index is introduced to achieve some desired features such as high flexible mode natural frequencies and easier accessibility of flexible modes by the control inputs

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46

Liao, Kuo-Kai, and 廖國凱. "Adaptive Control of Single-Link Flexible Manipulator." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/81012617693538289245.

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碩士<br>國立臺灣科技大學<br>機械工程系<br>90<br>The purpose of this paper is to propose a model reference adaptive controller and an adaptive sliding controller for a single-link flexible manipulator whose parameters are unknown and can be time-varying with unknown bounds. Since the conventional robust designs and adaptive strategies cannot be applied directly, the function approximation technique that realized by finite-term orthogonal series is used to estimate those uncertain terms. Because the coefficients of the function approximation are time-invariant, control strategies and update laws can be easily obtained from the Lyapunov approach to guarantee boundedness of signal and asymptotic output error convergence. To test the feasibility of those controllers, both simulations and experiments are performed. Proving by the computer simulations and the results of the experiments, the proposed controllers work well in the flexible manipulator with disturbances and unknown payloads.

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47

Fang, Qing Yan, and 方清煙. "Fuzzy control for two-link flexible manipulators." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/38338257306927872545.

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48

Lin, Chih-Ming, and 林志明. "Force Control of One-Link Flexible Arms by Adaptive Control." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/77406602158987612759.

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碩士<br>國立臺灣科技大學<br>高分子工程系<br>93<br>This paper is to investigate tip force control of one-link flexible arms. The equations of motion and the boundary conditions of the flexible arm are derived form Hamilton’s principle. Using the Lagrange multiplier method, we derive the constraint force of the flexible arm. The Galerkin''s method is used to develop the reduced order model of the flexible arm. We adopt the output model reference adaptive control (MRAC) that contains the reference model and the parameters adjustment mechanism. We can obtain the adaptive law by using the Lyapunov function. The output model reference adaptive controller can yield the same system output as the model reference output by using the adaptive law. The advantage of the output model reference adaptive control is to achieve the control ability for the system with some states unknown. In simulation, we choose the system’s first five vibration modes for controller design to track the step function and sine function. In experiment, we used the flexible arm made of stainless steel, an AC servo motor as an actuator, a load cell for sensing the tip force, and a strain gauge for sensing the tip deflection. We also choose the system’s first five vibration modes for controller design to track the step and sine functions in the experiment. The simulation and experiment results demonstrate that the tip force can track the step function quite well and track the sine function with some degree of error in the transient response. The result demonstrates that the force control of one-link flexible arms can be achieved by the proposed controller.

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49

Talebi, Heidar Ali. "Neural network-based control of flexible-link manipulators." Thesis, 1997. http://spectrum.library.concordia.ca/352/1/NQ44866.pdf.

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The problem of modeling and control of flexible-link manipulators has received much attention in the past several years. There are a number of potential advantages arising from the use of light-weight flexible-link manipulators, such as faster operation, lower energy consumption, and higher load-carrying capacity. However, structural flexibility causes many difficulties in modeling the manipulator dynamics and guaranteeing stable and efficient motion of the manipulator end-effector. Control difficulties are mainly due to the non-colocated nature of the sensor and actuator position, which results in unstable zero dynamics. Further complications arise because of the highly nonlinear nature of the system and the difficulty involved in accurately modeling various friction and backlash terms. Control strategies that ignore these problems generally fail to provide satisfactory closed-loop performance. This dissertation presents experimental evaluation on the performance of neural network-based controllers for tip position tracking of flexible-link manipulators. The controllers are designed by utilizing the output redefinition approach to overcome the problem caused by the non-minimum phase characteristic of the flexible-link system. Four different neural network schemes are proposed. The first two schemes are developed by using a modified version of the "feedback-error-learning" approach to learn the inverse dynamics of the flexible manipulator. The neural networks are trained and employed as online controllers. Both schemes require only a linear model of the system for defining the new outputs and for designing conventional PD-type controllers. This assumption is relaxed in the third and fourth schemes. In the third scheme, the controller is designed based on tracking the hub position while controlling the elastic deflection at the tip. In the fourth scheme which employs two neural networks, the first network (referred to as the output neural network) is responsible for specifying an appropriate output for ensuring minimum phase behavior of the system. The second neural network is responsible for implementing an inverse dynamics controller. Both networks are trained online. Finally, the four proposed neural network controllers are implemented oil a single flexible-link experimental test-bed. Experimental and simulation results are presented to illustrate the advantages and improved performance of the proposed tip position tracking controllers over the conventional PD-type controllers in the presence of unmodeled dynamics such as hub friction and stiction and payload variations.

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Rabindran, Nagaratnam. "Control of multiple link flexible joint robot manipulators." Thesis, 1991. http://spectrum.library.concordia.ca/2862/1/MM73689.pdf.

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