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Relevant bibliographies by topics / Flexible robot manipulator

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Academic literature on the topic 'Flexible robot manipulator'

Author: Grafiati

Published: 4 June 2021

Last updated: 18 February 2022

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Journal articles on the topic "Flexible robot manipulator"

1

Du, Yanfeng, and Cong Wang. "Dynamic Coupling and Control of Flexible Space Robots." International Journal of Structural Stability and Dynamics 20, no. 09 (2020): 2050103. http://dx.doi.org/10.1142/s0219455420501035.

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The dynamic modeling and coupling effect of a space robot are complex when the flexible manipulator and solar panels are considered. This paper investigates the dynamic coupling effect and control of a flexible space robot with flexible manipulators and flexible panels. The equations of motion are derived for the robot model both of the rigid-flexible type and flexible-flexible type. The flexible space robot dynamic model is verified by comparison with the results generated by the ADAMS software, for which good agreement has been obtained. The dynamic coupling matrix of the flexible space robot is derived based on the dynamic model. The effects of the central rigid body mass and the joints angle on the dynamic coupling are analyzed. A control method is proposed to manipulate the flexible space robot based on the system dynamic model. The multiple-impulse robust (MIR) input shaper is used to suppress the vibration of flexible structures in the proposed controller. Appropriate design parameter and frequency scaling factor are selected for the MIR input shaper to suppress the flexible vibration. The flexible space robot control is conducted to illustrate the effect of the proposed controller. It is shown that the proposed control method can realize the desired joints manipulation, while suppressing the vibration of the flexible manipulators and flexible panels.

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2

Petroka, R. P., and Liang-Wey Chang. "Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 111, no. 4 (1989): 667–72. http://dx.doi.org/10.1115/1.3153111.

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Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model for use in future design and control applications of flexible manipulators.

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Tarvirdizadeh, Bahram, Khalil Alipour, and Alireza Hadi. "An algorithm for dynamic object manipulation by a flexible link robot." Engineering Computations 33, no. 5 (2016): 1508–29. http://dx.doi.org/10.1108/ec-06-2015-0145.

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Purpose – The purpose of this paper is to focus on an online closed-loop (CL) approach for performing dynamic object manipulation (DOM) by a flexible link manipulator. Design/methodology/approach – Toward above goal, a neural network and optimal control are integrated in a closed-loop structure, to achieve a robust control for online DOM applications. Additionally, an elegant novel numerical solution method will be developed which can handle the split boundary value problem resulted from DOM mission requirements for a wide range of boundary conditions. Findings – The obtained simulation results reveal the effectiveness of both proposed innovative numerical solution technique and control structure for online object manipulation purposes using flexible manipulators. Originality/value – The object manipulation problem has previously been studied, however, for the first time its accomplishment by flexible link manipulators was addressed just in offline form considering an open-loop control structure (Tarvirdizadeh and Yousefi-Koma, 2012). As an extension of Tarvirdizadeh and Yousefi-Koma (2012), the current research, consequently, focusses on a numerical solution and a CL approach for performing DOM by a flexible link manipulator.

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4

Lo´pez-Linares, S., A. Konno, and M. Uchiyama. "Vibration Controllability of 3D Flexible Manipulators." Journal of Dynamic Systems, Measurement, and Control 119, no. 2 (1997): 326–30. http://dx.doi.org/10.1115/1.2801258.

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Structural vibrations of flexible robots are not always fully controllable in all the workspace. In some cases, there exist configurations where the actuators cannot affect some of the vibration modes, and thus cannot control their vibrations. This problem has been neglected in the case of the one-link and two-link planar manipulators; however, it must be dealt with in depth when trying to control a 3D flexible robot. This paper discusses the vibration controllability of flexible manipulators. Vibration uncontrollable configurations are estimated both by the minimum singular values of the controllability matrix and the closed-loop behavior. A 2-link 3-joint prototype flexible manipulator is used for a case study, and the uncontrollable configurations of the manipulator are found.

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5

Sekiguchi, Yuta, Yo Kobayashi, Yu Tomono, et al. "Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery." Journal of Robotics and Mechatronics 23, no. 6 (2011): 1115–24. http://dx.doi.org/10.20965/jrm.2011.p1115.

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Recently, a robotic system was developed to assist in Single-Port Endoscopic Surgery (SPS). However, the existing system required a manual operation of vision and viewpoint, hindering the surgical task. We proposed a surgical endoscopic robot for SPS with a dynamic vision control, the endoscopic view being manipulated by a master controller. The prototype robot consists of a manipulator for vision control, and dual tool tissue manipulators (gripping: five DOFs; cautery: three DOFs) can be attached at the tip of the sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 mm and a time delay of less than 31 ms, when the input frequency is 1.0 Hz.

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Kanarachos, A., M. Sfantsikopoulos, and P. Vionis. "A Splines–Based Control Method for Robot Manipulators." Robotica 7, no. 3 (1989): 213–21. http://dx.doi.org/10.1017/s026357470000607x.

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SUMMARYIn this paper, a new splines–based control method for robot manipulators is presented and discussed. The above method can be effectively used for path planning and control of rigid and flexible robots. The computational simplicity of the proposed algorithm, together with its flexibility and its high–level intelligence built in, can be considered as promising tools for achieving the goals of modem robot manipulator design.

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Lou, Jun Qiang, and Yan Ding Wei. "Vibration Control of a Space Flexible Robot Manipulator Using PZT Actuators." Applied Mechanics and Materials 66-68 (July 2011): 1142–48. http://dx.doi.org/10.4028/www.scientific.net/amm.66-68.1142.

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The dynamic analysis and control of flexible robot manipulators have been the main concerns of many recent studies in aeronautics and robotics. Moreover, the complexity of this problem increases when a flexible manipulator carries a payload. In this paper, we proposed a space two-link flexible manipulator with tip payload featuring surface-bonded piezoelectric torsional actuator and shear actuator. The equations of motion for the system are obtained using Hamilton’s principle. A Lyapunov-based controller is proposed to suppress the vibration of the system. Stability of the system is also investigated. The simulation results demonstrate the proposed control strategy is well suited for active control of vibration suppression on flexible manipulators.

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Matsuno, Takayuki, Toshio Fukuda, Fumihito Arai, and Yasuhisa Hasegawa. "Flexible Rope Manipulation Using Elastic Deformation Modeling by Dual Manipulator System with Vision Sensor." Journal of Robotics and Mechatronics 16, no. 1 (2004): 31–38. http://dx.doi.org/10.20965/jrm.2004.p0031.

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In this paper we propose a flexible object manipulation method by a dual manipulator system. A flexible object such a rope and paper is easily deformed and has hysteresis. Various approaches have been made on the research for the flexible object manipulation. However in the former research works, the manipulator system works only simple task. For more complex works with flexible object, the robot has to hand over the flexible object. So, we propose a flexible object recognition method which can hand over a flexible object using vision information and flexible object model. The dual manipulator system tied a cylinder object with flexible rope by repeating handing over actions in the experiment.

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Arteaga, Marco A. "On the Properties of a Dynamic Model of Flexible Robot Manipulators." Journal of Dynamic Systems, Measurement, and Control 120, no. 1 (1998): 8–14. http://dx.doi.org/10.1115/1.2801326.

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Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

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Miranda-Colorado, Roger, Luis T. Aguilar, and J. Moreno-Valenzuela. "A model-based velocity controller for chaotization of flexible joint robot manipulators." International Journal of Advanced Robotic Systems 15, no. 5 (2018): 172988141880252. http://dx.doi.org/10.1177/1729881418802528.

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This article presents a model-based velocity controller able to induce a chaotic motion on n-degrees of freedom flexible joint robot manipulators. The proposed controller allows the velocity link vector of a robot manipulator to track an arbitrary, chaotic reference vector field. A rigorous theoretical analysis based on Lyapunov’s theory is used to prove the asymptotic stability of the tracking error signals when using the proposed controller, which implies that a chaotic motion is induced to the robotic system. Experimental results are provided using a flexible joint robot manipulator of two degrees of freedom. Finally, by using Poincaré maps and Lyapunov exponents, it is shown that the behavior exhibited by the robot joint positions is chaotic.

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Dissertations / Theses on the topic "Flexible robot manipulator"

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Tsakalotos, Orestis I. "Active control of flexible structures and manipulators." Thesis, University of Newcastle Upon Tyne, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.316255.

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Holden, Ray Lanier. "A braced end effector for a flexible robot manipulator." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/16736.

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Mackay, Andrew Stuart. "A flexible robot control system for subsea manipulator applications." Thesis, University of Liverpool, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.260371.

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Davies, J. B. C. "A flexible three dimensional motion generator." Thesis, Heriot-Watt University, 1996. http://hdl.handle.net/10399/1173.

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Fraser, Anthony. "Perturbation techniques in the dynamics and control of flexible manipulators." Thesis, University of Oxford, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.329872.

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Niglis, Anton, and Per Öberg. "Modelling High-Fidelity Robot Dynamics." Thesis, Linköpings universitet, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-119640.

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The field of robotics is in continuous development. Driving forces for the development are higher demands on robot accuracy and being more cost effective in the development process. To reduce costs, product development is moving towards virtual prototyping to enable early analysis and testing. This process demands realistic models and modelling is therefore of utmost importance. In the process of modelling high fidelity robot dynamics many different physical aspects have to be taken into account. Phenomena studied in this thesis stretch from where to introduce flexibilities, mechanical and dynamical coupling effects, and how to describe friction. By using a bottom up approach the effects are analysed individually to evaluate their contribution both to accuracy and computationalcomplexity. A strategy for how to model a flexible parallel linkage manipulator by introducing some crucial simplifications is presented. The elastic parameters are identified using a frequency domain identification algorithm developed in [Wernholt, 2007] and shows that the presented method works well up to a certain level of fidelity. Friction is modelled using empirically derived static and dynamic models. Evaluation of accuracy is conducted through identification of friction models for a real manipulator and it is seen that to capture all existing phenomena in low velocities a dynamic model is needed. It is also seen that friction characteristics vary with temperature and a Kalman filter is suggested to adaptively estimate friction parameters. Finally an implementation of a flexible manipulator model using the software MapleSim is presented. The tool severely simplifies the process of modelling manipulators and enables for export to other environment such as simulation, optimization and control.

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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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Moberg, Stig. "Modeling and Control of Flexible Manipulators." Doctoral thesis, Linköpings universitet, Reglerteknik, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-60831.

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Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and product quality. Other reasons for using industrial robots are cost saving, and elimination of hazardous and unpleasant work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the mathematical models and control methods in order to fulfil conflicting requirements, such as increased performance of a weight-reduced robot, with lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are also obtained, such as lower environmental impact, lower power consumption, improved dexterity, and higher safety. This thesis deals with different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, this thesis shows that the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. The main contributions of this work are the design and analysis of identification methods, and of inverse dynamics control methods, for the extended flexible joint model. The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot. The inverse dynamics problem is discussed, and a solution methodology is proposed. This methodology is based on the solution of a differential algebraic equation (DAE). The inverse dynamics solution is then used for feedforward control of both a simulated manipulator and of a real robot manipulator. The last part of this work concerns feedback control. First, a model-based nonlinear feedback control (feedback linearization) is evaluated and compared to a model-based feedforward control algorithm. Finally, two benchmark problems for robust feedback control of a flexible manipulator are presented and some proposed solutions are analyzed.

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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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Wang, Ke. "Modélisation d'un robot manipulateur en vue de la commande robuste en force utilisé en soudage FSW." Thesis, Paris, ENSAM, 2016. http://www.theses.fr/2016ENAM0003/document.

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Le travail présenté dans cette thèse concerne la modélisation et la commande robuste en force de robots manipulateurs industriels à articulations flexibles utilisés pour le procédé FSW. Afin de réduire les temps de calcul et l'occupation de la mémoire, une approche basée sur la méthode par intervalle est proposée en vue de la simplification des modèles dynamiques des robots industriels, et contribue à identifier les paramètres d'inertie qui sont négligeables. Des études de cas sur trois types de trajectoires de test et l’analyse des couples moteurs ont démontré l'efficacité et les bonnes performances de la méthode de simplification. Ensuite, la modélisation dynamique et l'identification des paramètres du procédé FSW ont été effectuées. Les paramètres des modèles linéaires et non-linéaires de forces axiales sont identifiés. Sur la base de la modélisation du procédé FSW qui considère simultanément la cinématique du système complet, le modèle de déplacement du robot rigide, les flexibilités des articulations et le modèle dynamique de la force axiale, un contrôleur robuste en force est obtenu par la méthode de réglage fréquentielle. En outre, un simulateur du procédé FSW robotique est développé et les résultats de simulation montrent les bonnes performances du contrôleur en force. L'oscillation de la force axiale dans le procédé FSW peut être simulée en utilisant un modèle de perturbation de la position verticale de référence<br>The work presented in this thesis focuses on the modeling and robust force control of flexible joints industrial robot manipulators used for FSW process. In order to reduce computation time and memory occupation, a novel interval-based approach for dynamic model simplification of industrial robots is proposed, which applies to arbitrary trajectories of whole robot workspace and contributes to obtaining negligible inertia parameters. Cases studies have been carried out on three kinds of test trajectories and torques analysis of robot dynamic equation, demonstrating the effectiveness and good performance of the simplification method. Then, the dynamic modeling and identification of robotic FSW process is performed, and the parameters of linear and nonlinear dynamic axial force process models are identified by using the plunge depth and its derivative. On the basis of the modeling of robotic FSW process which simultaneously considers the complete kinematics, the rigid robot displacement model, the joint flexibility and the dynamic axial force process model, a robust force controller can be obtained by using the frequency response approach. Besides, a simulator of robotic FSW process is developed and simulation results show good performance of the force controller. The oscillation of axial force in FSW process can be simulated when a disturbance model of initial vertical reference position is proposed and used in the simulation

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Books on the topic "Flexible robot manipulator"

1

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

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2

Malachowski, M. J. Beam rider for an articulated robot manipulator (ARM): Accurate positioning of long flexible manipulators. National Aeronautics and Space Administration, [Lewis Research Center, 1990.

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Morris, A. S. Static and dynamic modelling of a two-flexible-link robot manipulator. University, Dept. of Control Engineering, 1995.

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P. Th. L. M. van Woerkom. Equivalent flexibility modelling for the recursive simulation of robot manipulator dynamics. National Aerospace Laboratory, 1989.

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Morris, A. S. Multi-mode modelling of a flexible link robot manipulator by A.S. Morris and A. Madani. University, Dept. of Control Engineering, 1995.

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

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Fraser, Anthony R. Perturbation techniques for flexible manipulators. Kluwer Academic Publishers, 1991.

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Prins, J. J. M. Flexible space-based robot modelling and real-time simulation. National Aerospace Laboratory, 1989.

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Ho, Long T. Neural self-tuning adaptive control strategies of non-minimum phase system developed for flexible robotic arm. University of Colorado at Denver, 1993.

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P. Th. L. M. van Woerkom. Linear recursive formulation of flexible multibody space systems dynamics. National Aerospace Laboratory, 1990.

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Book chapters on the topic "Flexible robot manipulator"

1

Kordasz, Marta, Rafał Madoński, Mateusz Przybyła, and Piotr Sauer. "Active Disturbance Rejection Control for a Flexible-Joint Manipulator." In Robot Motion and Control 2011. Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-2343-9_21.

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Boucetta, Rahma, and Mohamed Naceur Abdelkrim. "Neural Network Modeling of a Flexible Manipulator Robot." In Computer Information Systems and Industrial Management. Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-33260-9_34.

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Boyer, F., N. Glandais, and W. Khalil. "Jacobian of a Flexible Manipulator Undergoing Large Elastic Displacements." In Advances in Robot Kinematics: Analysis and Control. Springer Netherlands, 1998. http://dx.doi.org/10.1007/978-94-015-9064-8_51.

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di Castri, Carmelo, and Arcangelo Messina. "Modeling Effects on Free Vibration of a Two-Link Flexible Manipulator." In ROMANSY 18 Robot Design, Dynamics and Control. Springer Vienna, 2010. http://dx.doi.org/10.1007/978-3-7091-0277-0_11.

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Eberhard, Peter, and Fatemeh Ansarieshlaghi. "Nonlinear Position Control of a Very Flexible Parallel Robot Manipulator." In Multibody Dynamics 2019. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-23132-3_19.

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Ansarieshlaghi, Fatemeh, and Peter Eberhard. "Adaptive Interaction Control of a Very Flexible Parallel Robot Manipulator." In Informatics in Control, Automation and Robotics. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-63193-2_8.

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Tomori, Hiroki, Tomohiro Koyama, Hiromitsu Nishikata, Akinori Hayasaka, and Ikumi Suzuki. "Developing a Flexible Segment Unit for Redundant-DOF Manipulator Using Bending Type Pneumatic Artificial Muscle." In ROMANSY 23 - Robot Design, Dynamics and Control. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58380-4_33.

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Lochan, Kshetrimayum, Jay Prakash Singh, Binoy Krishna Roy, and Bidyadhar Subudhi. "Hidden Chaotic Path Planning and Control of a Two-Link Flexible Robot Manipulator." In Nonlinear Dynamical Systems with Self-Excited and Hidden Attractors. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-71243-7_19.

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Lahdhiri, Tarek, and Hoda A. ElMaraghy. "Optimal nonlinear position tracking control of a two-link flexible-joint robot manipulator." In Experimental Robotics V. Springer Berlin Heidelberg, 1998. http://dx.doi.org/10.1007/bfb0112988.

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Andrade, José Manuel, and Christopher Edwards. "LMI-Based Sliding Mode Controller Design for an Uncertain Single-Link Flexible Robot Manipulator." In Lecture Notes in Electrical Engineering. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58653-9_67.

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Conference papers on the topic "Flexible robot manipulator"

1

Yu, Yue-Qing, and Ji-Yun Yang. "Dynamics and Motion Control of Flexible Manipulators With Multi-Degree of Kinematic Redundancy." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84160.

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The dynamics and motion control of flexible robot manipulators is an advanced topic in the study of robotics. The precise tracking of the end-effector trajectory of flexible robots can be improved by the self-motion of redundant manipulators. The flexible manipulator with single-degree of kinematic redundancy has been considered only at present. This study addresses on the dynamics and motion control of flexible robots with multi-degree of kinematic redundancy. Compared with the robot with one-degree of redundancy, the optimal motion programming of a flexible robot manipulator with two-degree of redundancy has been obtained successfully based on pseudo-inverse solution. The numerical results of planar three-link and four-link flexible manipulators show the advantage of multi-degree of redundancy in improving the kinematic and dynamic performances of flexible robot manipulators.

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Shigang, Yue. "Optimal Configurations for Flexible Redundant Robot Manipulators." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5996.

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Abstract The significant effect of initial configurations of flexible redundant robot manipulators is analyzed in the paper. It is found that the endpoint vibrations of a flexible redundant manipulator are quite different while performing the same endpoint trajectory starting from different initial configurations. Thus an optimal initial configuration with lower vibrations is found based on analysis before the manipulator starts to move. Only small and acceptable vibrations can be stimulated if the flexible redundant manipulator starts to move from the optimal configuration. Lots of computer time can be saved compared with optimal joint planning method. The method can be used in real-time control.

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Chen, Wei, Lipu Wei, Xiuping Yang, Jinjin Guo, Xizheng Zhang, and Xuping Zhang. "Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85835.

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Considerable research attentions have recently been paid toward a mobile manipulator (a robot arm standing on a mobile platform) due to its extended workspace beyond the manipulator reach. Mobile manipulators have a wide range of potential applications where it is desirable to achieve higher degree of flexibility in transport and handling task. However, a vast number of research publications only focus on trajectory planning. This preliminary research work presents dynamic modeling and analysis of a mobile flexible robot arm with aims to provide insights for the design and control of such mobile robot manipulators. In this work, the dynamic model is developed using a computationally efficient method: Discrete Time Transfer Matrix Method (DT-TMM). The concepts and principle of DT-TMM are briefly overviewed, and then are applied to a mobile flexible robot arm for dynamic modeling with the detailed procedure. Numerical simulations and dynamic analyses are performed to illustrate the effectiveness of the proposed dynamic modeling method, and to provide the clues for our ongoing research work in the design and control of mobile robot manipulators.

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4

Patel, Aditya, Rohan Neelgund, Archana Wathore, Jaywant P. Kolhe, M. M. Kuber, and S. E. Talole. "Robust Control of Flexible Joint Robot Manipulator." In 2006 IEEE International Conference on Industrial Technology. IEEE, 2006. http://dx.doi.org/10.1109/icit.2006.372236.

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Yu, Liangyao, Sheng Zheng, Jinghu Chang, and Xiaoxue Liu. "Pedal Actuator of Driver Robot Based on Flexible Manipulator." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-68100.

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In most testing scenarios, driver robot can improve the testing accuracy and reduce the testing time when it replaces human driver. In this paper, an innovative pedal actuator of driver robot based on flexible manipulator is designed. This pedal actuator of driver robot can save the driver cabin space by changing the shape of manipulator according to different vehicle models, so that the human driver can sit in the cabin, together with the driver robot, monitor the testing process and take over the driver robot when necessary. The proposed pedal actuator of driver robot is composed of a flexible manipulator and end effector. The end effector which is respected to generate 500N pressure in maximum is based on ball screw pairs actuated by DC motor. The flexible manipulator is designed referring to 2-DOF universal joints. The designed prism shells around joint can improve rigidity of flexible manipulator under the condition of small size. Modular link design is used and every module has 2 degrees of freedoms. Its reaching range can be adjusted by increasing or decreasing the amount of modules. A three dimensional model has been constructed and the working principle of flexible manipulator is demonstrated in this paper. Simplified kinematics model of flexible manipulator is established, and the homogeneous coordinate transformation matrix and Denavit-Hartenberg convention are used to derive the kinematics equations. And the rotation angle of prism shell which is directly related to the servo motor angle is used to express the bending angle of the universal joint in the kinematics equations, so that it becomes straightforward and simple to solve the forward kinematics problem and control the manipulator.

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Krzyzak, Adam, Jerzy Z. Sasiadek, and Steve Ulrich. "Nonparametric identification of robot flexible joint space manipulator." In 2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR). IEEE, 2012. http://dx.doi.org/10.1109/mmar.2012.6347893.

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Giberti, Hermes, Simone Cinquemani, and Stefano Ambrosetti. "Improving Trajectory Tracking Performance of a 2 DOF Parallel Kinematic Manipulator With Flexible Links." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82546.

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Flexible-link robots are an important class of manipulators which uses lightweight arms for assembly, civil infrastructure, bridge/vehicle systems and large-scale space structures. The wide spread of these systems in various application areas has ensured that the modeling of flexible elements and the control of vibration have received a great deal of attention in recent years. In this work it is analyzed a two DOF parallel robot with two flexible links used for pick and place operations, developing a control strategy based on piezoelectric actuators and strain gauges or accelerometers embedded in the links. The analysis of the robot behaviour and the development of the controller, have been carried out on an electromechanical model built in Matlab® and co-simulated with the multibody flexible model built in Adams®. Results show positive confirmation of the study and encourage future tests on the real manipulator to validate the multibody model and the control strategy.

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Suklabaidya, S., K. Lochan, and B. K. Roy. "Modeling and sliding mode control of flexible link flexible joint robot manipulator." In the 2015 Conference. ACM Press, 2015. http://dx.doi.org/10.1145/2783449.2783509.

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Zhang Chunyi and Bai Guangchen. "Reliability analysis of a two-link flexible robot manipulator." In 2010 2nd International Conference on Information Science and Engineering (ICISE). IEEE, 2010. http://dx.doi.org/10.1109/icise.2010.5690684.

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Sasiadek, Jerzy Z., Anthony Green, Steve Ulrich, and Adam Krzyzak. "Nonparametric identification and control of flexible joint robot manipulator." In 2014 19th International Conference on Methods & Models in Automation & Robotics (MMAR). IEEE, 2014. http://dx.doi.org/10.1109/mmar.2014.6957355.

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