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Journal articles on the topic 'Flexible robot manipulator'

Author: Grafiati

Published: 4 June 2021

Last updated: 18 February 2022

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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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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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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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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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Mu, Hui Jin. "Study on Variable Structure Vibration Control for Flexible Manipulator." Advanced Materials Research 875-877 (February 2014): 1961–66. http://dx.doi.org/10.4028/www.scientific.net/amr.875-877.1961.

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In recent years, modeling and control of flexible space robots are extensively researched. Compared with traditional rigid robots, flexible robots have low energy consumption, wide operating space, high carrying capacity and other characteristics. However, due to its special structure, the robot arm will get deformation and vibration in motion, which brings a lot of problems to the positioning and tracking control of flexible space robots. Therefore, directing at the dynamics modeling and control issues of the free-floating flexible dual-arm space robots, this article carries out in-depth study. This paper first studies the elastic deformation and vibration of the flexible space manipulator and the robust control problem of the system trajectory tracking for free-floating flexible dual-arm space robots.

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Zhu, Yuanchao, Canjun Yang, Qianxiao Wei, Xin Wu, and Wei Yang. "Human–robot shared control for humanoid manipulator trajectory planning." Industrial Robot: the international journal of robotics research and application 47, no. 3 (2020): 395–407. http://dx.doi.org/10.1108/ir-10-2019-0217.

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Purpose This paper aims to propose an intuitive shared control strategy to control a humanoid manipulator that can fully combine the advantages of humans and machines to produce a stronger intelligent form. Design/methodology/approach The working space of an operator’s arm and that of a manipulator are matched, and a genetic algorithm that limits the position of the manipulator’s elbow joint is used to find the optimal solution. Then, the mapping of the operator’s action to that of manipulators is realized. The controls of the human and robot are integrated. First, the current action of the operator is input. Second, the target object is predicted according to the maximum entropy hypothesis. Third, the joint angle of the manipulator is interpolated based on time. Finally, the confidence and weight of the current moment are calculated. Findings The modified weight adjustment method is the optimal way to adjust the weight during the task. In terms of time and accuracy, the experimental results of single target obstacle avoidance grabbing and multi-target predictive grabbing show that the shared control mode can provide full play to the advantages of humans and robots to accomplish the target task faster and more accurately than the control merely by a human or robot on its own. Originality/value A flexible and highly anthropomorphic human–robot action mapping method is proposed, which provides operator decisions in the shared control process. The shared control between human and the robot is realized, and it enhances the rapidity and intelligence, paving a new way for a novel human–robot collaboration.

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Massoud, A. T., and H. A. ElMaraghy. "AN IMPEDANCE CONTROL APPROACH FOR FLEXIBLE JOINTS ROBOT MANIPULATORS." Transactions of the Canadian Society for Mechanical Engineering 19, no. 3 (1995): 212–26. http://dx.doi.org/10.1139/tcsme-1995-0010.

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A nonlinear feedback impedance control approach is presented to control the position and/or force of flexible joints robot manipulators interacting with a compliant environment. A feedback linearizable fourth order model of the flexible joint robots interacting with that environment is constructed. In this model, the control input is related directly to the link position vector and its derivatives. A desired target Cartesian impedance is then specified for the end point of the flexible joints robot. A nonlinear feedback control law is derived to linearize the system and to impose the target impedance for the end point of the robot in the Cartesian space. The same controller is used when the robot is free (unconstrained) and when it interacts with an environment. Also, the input to the system, in both unconstrained and constrained motions, is the end point position and its derivatives. When in free motion, the robot will track the desired end-point position, but while in constrained motion, the desired end point position is used to obtain a desired force according to the specified impedance. An experimental two-link flexible joint robot manipulator, constrained by a straight wall, is used to evaluate the impedance control algorithm.

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Küçük, Halûk, Gordon Parker, and Eric T. Baumgartner. "Robot positioning of flexible-link manipulator using vision." Robotica 22, no. 3 (2004): 301–7. http://dx.doi.org/10.1017/s0263574703005629.

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Vision-aided flexible link robot positoning using the Camera Space Manipulation (CSM) method is developed. The primary motivation for this work is to use an autonomous vision-aided robotic system to pick-up and accurately move a flexible object that it encounters. The work consists of analytical and experimental investigation of the performance of CSM for a kinematic model of the PUMA manipulator with a flexible structure at the wrist which accounts for the gravitation. Trade-offs between camera view parameters and axial deflection model parameters were investigated. View parameter reestimation and maneuvering resulted a very accurate placement of the end-effector at the target.

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Sharf, I. "Active Damping of a Large Flexible Manipulator With a Short-Reach Robot." Journal of Dynamic Systems, Measurement, and Control 118, no. 4 (1996): 704–13. http://dx.doi.org/10.1115/1.2802346.

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This paper deals with manipulator systems comprising a long-reach manipulator (LRM) with a short-reach dextrous manipulator (SRM) attached to its end. The former, due to its size, is assumed to have significant structural flexibility, while the latter is modeled as a rigid robot. The particular problem addressed is that of active damping, or vibration suppression, of the LRM by using SRM specifically for that purpose Such a scenario is envisioned for operations where the large manipulator is used to deploy the small robot and it is necessary to damp out vibrations in LRM prior to operating SRM. The proposed solution to the problem uses the reaction force from SRM to LRM as a control variable which allows to effectively decouple the controller design problems for the two manipulators. A two-stage controller is presented that involves first, determining the trajectory of the short manipulator required to achieve a desired damping wrench to the supporting flexible arm and subsequently, brings the small manipulator to rest. Performance of the active damping algorithm developed is illustrated with a six-degree-of-freedom rigid manipulator on a flexible mast. Comparison to an independent derivative joint controller is included. The paper also discusses how the proposed methodology can be extended to address other issues related to operation of long-reach manipulator systems.

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Liu, Yue, Guo Hua Gao, Hao Wang, Ya Nan Qin, and Mei Juan Lian. "Innovative Design and Simulation of a Four-Wire Flexible Manipulator." Advanced Materials Research 971-973 (June 2014): 544–47. http://dx.doi.org/10.4028/www.scientific.net/amr.971-973.544.

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With the progress of science and technology, people's desire to improve the work efficiency became stronger and stronger. The demand for applied robots is sharply growing. Compared with the traditional rigid robot, the flexible mechanical structure has the advantages of compact and maneuverable. Thusly, this paper follows the direction of low-cost flexible structure, came up with a four-wire flexible manipulator and completed the prototyping research. This manipulator consists of flexible picking paw, flexible picking arm and control system three mainly parts, can be used in various fields.

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Xiong, Gen Liang, Hai Chu Chen, Rui Hua Zhang, and Fa Yun Liang. "Control of Human-Robot Interaction Flexible Joint Lightweight Manipulator Based Joint Torque Sensors." Advanced Materials Research 403-408 (November 2011): 5022–29. http://dx.doi.org/10.4028/www.scientific.net/amr.403-408.5022.

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Recently, flexible joint lightweight robots are widely used in a variety of mobile robots or mechanical platforms, playing a more and more important role in the areas of space exploration, military reconnaissance, counter-terrorism, defusing, as well as home service. From the viewpoint of lightweight robot applications, there exist many different tasks under changing working conditions, either working in dangerous and unknown complex environment or closely contacting with human beings. Therefore, for a safe operation and high reliability, lightweight robots need not only high-precision position control but also compliance control, such that no injury on the robot and operated object will occur when interacting with the unknown environments. In order to make the manipulator contacts the environment compliantly, and reduces the instantaneous impact when collision occurs. This paper presented an interaction impedance control strategy for manipulator based on joint torque sensor, and combined with the trajectory regeneration with force feedback. Experiment was performed on a 5-DOF flexible joint lightweight manipulator. The experiment results of tapping on an egg showed the manipulator contacts the object compliantly and reduces collision impact, so the proposed approach was effectiveness and validity.

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Mbede, Jean Bosco, and Joseph Jean-Baptiste Mvogo Ahanda. "Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot." Journal of Robotics 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/241548.

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This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and to ensure fast tracking performance. Backstepping approach is used to ensure global asymptotic stability and its common algorithm is modified such that the link position and velocity errors converge to zero exponentially fast. In contrast with the other backstepping controller for electrically driven flexible joint robot manipulators control problem, the proposed controller is robust with respect to stiffness uncertainty and allows tracking fast motions. Simulation results are presented for both single link flexible joint electrically driven manipulator and 2-DOF flexible joint electrically driven robot manipulator. These simulations show very satisfactory tracking performances and the superiority of the proposed controller to those performed in the literature using simple backstepping methodology.

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Nawrocka, Agata, Andrzej Kot, and Marcin Nawrocki. "Control Algorithms for Robot Manipulator." Applied Mechanics and Materials 759 (May 2015): 45–50. http://dx.doi.org/10.4028/www.scientific.net/amm.759.45.

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The subject of this work is to develop a control system for the two degree of freedom robot manipulator. Manipulators play an increasingly important role not only in flexible automation production systems but also in medicine and rehabilitation process [3]. High-speed and high-precision trajectory tracking are indispensable capabilities for versatile applications of manipulators. Even in well-known industrial applications manipulators are characterized by structural and / or unstructured uncertainty. Through structural uncertainty we miss a situation in which we have a dynamic model of the object, but because of the uncertainty unknown parameters such as load, inaccuracies in constant torque actuators etc. to create a properly working control system is a difficult issue. In contrast, unstructured uncertainty is related to the unknown of the dynamic model, which may be due to many reasons such as the presence of high-frequency modes of the manipulator, neglected time-delays, nonlinear friction etc. In this case, when the dynamic model of the system is not known a priori (or not available), the system must first be identified, then the control law is developed based on the estimated model [5, [6[7].These problems cause that it is very difficult to find good control system but simple. In this case, the different algorithms for control system of the manipulator was proposed. The first classical PD controller was tested. Next the system design for PD controller with compensation of gravitational forces.

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Liu, Y. F., W. Li, X. F. Yang, Y. Q. Wang, M. B. Fan, and G. Ye. "Coupled dynamic model and vibration responses characteristic of a motor-driven flexible manipulator system." Mechanical Sciences 6, no. 2 (2015): 235–44. http://dx.doi.org/10.5194/ms-6-235-2015.

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Abstract. Motor-driven flexible manipulator systems (MDFMSs) are widely used in industry robot fields. During the dynamic modeling, the separate investigation method which neglects the dynamic behavior of the driving motor will cause an error in the dynamic analysis of the flexible manipulator, especially with high-speed operations. This paper proposes a coupled dynamic model of the MDFMS in which the driving motor and flexible manipulator are considered as an integrated system, which can clearly reflect the influence of the dynamic effect of the driving motor. Based on the proposed dynamic model, the vibration responses of the flexible manipulator under different velocities, accelerations and structure parameters, as well as the effect mechanism of the driving motor on the vibration responses, are investigated. The results obtained in this paper contribute to the structure design, motion optimization and dynamic analysis of flexible manipulators.

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Nakamura, Taro, Yuki Akamatsu, and Yuta Kusaka. "Development of Soft Manipulator with Variable Rheological Joints and Pneumatic Sensor for Collision with Environment." Journal of Robotics and Mechatronics 20, no. 4 (2008): 634–40. http://dx.doi.org/10.20965/jrm.2008.p0634.

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Recently, as robots and humans have increasingly come to share common space, especially in the fields of medical and home automation, it has become necessary to consider the frequent physical collision of robots and environments (e.g. humans). However, many robot joints employ actuators with high-ratio gear trains, and therefore, when this type of robot comes into contact with a human, physical pain may be caused. This study deals with the development of a manipulator using a smart flexible joint employing ER fluid and a pneumatic cushion that has a sensor function. In addition, position control and collision experiments were performed with the developed manipulator. The experimental results demonstrate the effectiveness of the manipulator.

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Weyrer, Matthias, Mathias Brandstötter, and Manfred Husty. "Singularity Avoidance Control of a Non-Holonomic Mobile Manipulator for Intuitive Hand Guidance." Robotics 8, no. 1 (2019): 14. http://dx.doi.org/10.3390/robotics8010014.

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Mobile manipulators are robot systems capable of combining logistics and manipulation tasks. They thus fulfill an important prerequisite for the integration into flexible manufacturing systems. Another essential feature required for modern production facilities is a user-friendly and intuitive human-machine interaction. In this work the goal of code-less programming is addressed and an intuitive and safe approach to physically interact with such robot systems is derived. We present a natural approach for hand guiding a sensitive mobile manipulator in task space using a force torque sensor that is mount close to the end effector. The proposed control structure is capable of handling the kinematic redundancies of the system and avoid singular arm configurations by means of haptic feedback to the user. A detailed analysis of all possible singularities of the UR robot family is given and the functionality of the controller design is shown with laboratory experiments on our mobile manipulator.

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Matsuno, Fumitoshi. "Optimal Path Planning for Flexible Plate Handling Using an n-Link Manipulator." Journal of Robotics and Mechatronics 10, no. 3 (1998): 178–83. http://dx.doi.org/10.20965/jrm.1998.p0178.

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In this paper on optimal path planning for handling a flexible plate using an n-manipulator, we consider manipulator joint trajectory to achieve the desired flexible plate configuration without inducing vibration. We start by deriving equations of motion and vibration for general n-link manipulators with a flexible plate, then, using eigenfunction expansion, derive an approximated finite dimensional modal model. The model of flexible plate vibration implies that angularly accelerating the manipulatorjoints excites vibration, so we use optimal trajectory planning to minimize acceleration; this trajectory is calculated using a numerical iterative algorithm, and the trajectory’s validity is demonstrated by experiments for an air-driven two-link robot arm.

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Engemann, Heiko, Shengzhi Du, Stephan Kallweit, Patrick Cönen, and Harshal Dawar. "OMNIVIL—An Autonomous Mobile Manipulator for Flexible Production." Sensors 20, no. 24 (2020): 7249. http://dx.doi.org/10.3390/s20247249.

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Flexible production is a key element in modern industrial manufacturing. Autonomous mobile manipulators can be used to execute various tasks: from logistics, to pick and place, or handling. Therefore, autonomous robotic systems can even increase the flexibility of existing production environments. However, the application of robotic systems is challenging due to their complexity and safety concerns. This paper addresses the design and implementation of the autonomous mobile manipulator OMNIVIL. A holonomic kinematic design provides high maneuverability and the implemented sensor setup with the underlying localization strategies are robust against typical static and dynamic uncertainties in industrial environments. For a safe and efficient human–robot collaboration (HRC), a novel workspace monitoring system (WMS) is developed to detect human co-workers and other objects in the workspace. The multilayer sensor setup and the parallel data analyzing capability provide superior accuracy and reliability. An intuitive zone-based navigation concept is implemented, based on the workspace monitoring system. Preventive behaviors are predefined for a conflict-free interaction with human co-workers. A workspace analyzing tool is implemented for adaptive manipulation, which significantly simplifies the determination of suitable platform positions for a manipulation task.

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Ghariblu, H., and M. H. Korayem. "Trajectory optimization of flexible mobile manipulators." Robotica 24, no. 3 (2005): 333–35. http://dx.doi.org/10.1017/s0263574705002225.

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A computational algorithm is developed to find a dynamic motion trajectory of a mobile manipulator with flexible links and joints that will allow the robot to carry a maximum load between two specified end positions. A compact form of the linearized state space dynamic equations is organized as well as constraint equations. Then, the problem of finding a maximum load carrying capacity on flexible mobile manipulators is formulated as a trajectory optimization problem.

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Naveen, S. K., Kumaar Devaraj Rajesh, and P. Pal Pandian. "Design and Fabrication of Flexible Three Link Manipulator for Pick and Place Application." Applied Mechanics and Materials 592-594 (July 2014): 2134–38. http://dx.doi.org/10.4028/www.scientific.net/amm.592-594.2134.

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Flexibility plays a key role in robot based applications, where the ability to perform complex tasks in semi structured or even unstructured environments is strategic.Most industrial robot operates inside a security fence which separates them from human workers, but not all. Flexibility, lightness in relation to the mass to be displaced and energy efficiency are acquiring increasing significance in automation. We can achieve higher performance in robots by optimizing the parameters like high-speed operation, lower energy consumption, lighter weight and safer operation. In this paper a pick and place robot is designed and developed to achieve effective automation with higher safety and with greater ease. The main objectives of designing this flexible manipulator are to reduce its mass and to minimize its vibrations in the end-effector, which enhances good accuracy in positioning.This can be achieved by bringing down the number of working components and jointswhich reduce various losses. The greater mass can be transferred from one place to another place with relatively lesser mass of flexible three link manipulator. The various problems were encountered and rectified during the design and fabrication of flexible three link manipulator for pick and place application.

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Wang, Hai, and Xiao Pin Xia. "Simulation of Manipulator with Flexible Joint." Applied Mechanics and Materials 325-326 (June 2013): 999–1003. http://dx.doi.org/10.4028/www.scientific.net/amm.325-326.999.

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Joint flexibility is the key factor during dynamic control of robot manipulator. Accurate dynamic model is the fundamental of manipulator system design, analysis and control. This paper adopts Lagrange method to accomplish two degrees freedom manipulator modeling, and then design Backstepping control law according to a single-link manipulator. For the above control law, the proof of the Lyapunov stability is given and simulations are done. The simulated result suggested that the static error is decreased.

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Vossoughi, G. R., and A. Karimzadeh. "Impedance control of a two degree-of-freedom planar flexible link manipulator using singular perturbation theory." Robotica 24, no. 2 (2005): 221–28. http://dx.doi.org/10.1017/s0263574705002055.

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In this article, impedance control of a two link flexible link manipulators is addressed. The concept of impedance control of flexible link robots is rather new and is being addressed for the first time by the authors. Impedance Control provides a universal approach to the control of flexible robots, in both constrained and unconstrained maneuvers. The initial part of the paper concerns the use of Hamilton's principle to derive the mathematical equations governing the dynamics of joint angles, vibration of the flexible links and the constraining forces. The approximate elastic deformations are then derived by means of the Assumed-Mode-Method (AMM). Using the singular perturbation method, the dynamic of the manipulator is decomposed into fast and slow subsystems. The slow dynamic corresponds to the rigid manipulator and the fast dynamic is due to vibrations of flexible links. The sliding mode control (SMC) theory has been used as the means to achieve the 2nd order target impedance for the slow dynamics. A controller based on state feedback is also designed to stabilize the fast dynamics. The composite controller is constructed by using the slow and fast controllers. Simulation results for a 2-DOF robot in which only the 2nd link is flexible confirm that the controller performs remarkably well under various simulation conditions.

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Subudhi, Bidyadhar, Subhakanta Ranasingh, and Ajaha Swain. "Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator." Archives of Control Sciences 21, no. 3 (2011): 269–85. http://dx.doi.org/10.2478/v10170-010-0043-2.

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Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.

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Dermawan, Dermawan, Hammada Abbas, Rafiuddin Syam, Zulkifli Djafar, and Abdul Kadir Muhammad. "DYNAMIC MODELING OF A SINGLE-LINK FLEXIBLE MANIPULATOR ROBOT WITH TRANSLATIONAL AND ROTATIONAL MOTIONS." IIUM Engineering Journal 21, no. 1 (2020): 228–39. http://dx.doi.org/10.31436/iiumej.v21i1.1254.

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The flexible manipulator is widely used in space robots, robot arm, and manufacturing industries that produce micro-scale products. This study aims to formulate the equation of motion of a flexible single-link manipulator system that moves translationally and rotationally and to develop computational codes with finite element methods in performing dynamic simulation on the vibration of the flexible manipulator system. The system of the single-link flexible manipulator (SLFM) consists of the aluminum beam as a flexible link, clamp part to hold the link, DC motor to rotate drive shaft, a trajectory to transfer link in translational motion, and servo motor to rotate link. Computational codes in time history response (THR) and Fast Fourier Transform (FFT) processing were developed to identify the dynamic behavior of the link. The finite element-method and Newmark-beta are used in simulating the SLFM. Simulation using the finite element method has displayed dynamic behavior through a graph of FFT on free vibration and THR graph on forced vibration by the excitation force due to the translational and rotational motions of the system. In the simulation of free vibration, the natural frequency of the system is 8.3 [Hz].

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Song, Lu-Kai, Guang-Chen Bai, Cheng-Wei Fei, and Rhea P. Liem. "Transient probabilistic design of flexible multibody system using a dynamic fuzzy neural network method with distributed collaborative strategy." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 11 (2018): 4077–90. http://dx.doi.org/10.1177/0954410018813213.

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To improve the efficiency and accuracy of transient probabilistic analysis of flexible multibody systems, a dynamic fuzzy neural network method-based distributed collaborative strategy is proposed by integrating extremum response surface method and fuzzy neural network. Distributed collaborative dynamic fuzzy neural network method is mathematically modeled and derived by considering the high nonlinearity, strong coupling, and multicomponent characteristics of a flexible multibody system. The proposed method is demonstrated to perform the transient probabilistic analysis of a two-link flexible robot manipulator. We obtain the distributional characteristics, reliability degree, and sensitivity degree of robot manipulator, which are useful for the effective design of robot manipulator. By comparing the full-scale method, extremum response surface method, dynamic fuzzy neural network method, and distributed collaborative dynamic fuzzy neural network method, we find that the distributed collaborative dynamic fuzzy neural network method can be used to perform the transient probabilistic analysis of the robot manipulator and improve the computational efficiency while maintaining a good accuracy. Moreover, this study offers a useful insight for the reliability-based design optimization of flexible multibody systems, and enriches the field of mechanical reliability theory as well.

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Zijie, Fan, Lu Bingheng, and C. H. Ku. "Dynamic Analysis of Flexible Manipulator Arms With Distributed Viscoelastic Damping." Journal of Dynamic Systems, Measurement, and Control 119, no. 4 (1997): 831–33. http://dx.doi.org/10.1115/1.2802399.

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The main objective of this work is to predict the effect of distributed viscoelastic damping on the dynamic response of multilink flexible robot manipulators. A general approach, based on the principle of virtual work, is presented for the modeling of flexible robot arms with distributed viscoelastic damping. The finite element equations are developed, and a recurrence formulation for numerical integration of these equations is obtained. It is demonstrated, by a numerical example, that the viscoelastic damping treatments have a significant effect on the dynamic response of flexible robot manipulators.

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Green, Anthony, and Jurek Z. Sasiadek. "Dynamics and Trajectory Tracking Control of a Two-Link Robot Manipulator." Journal of Vibration and Control 10, no. 10 (2004): 1415–40. http://dx.doi.org/10.1177/1077546304042058.

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Operational problems with robot manipulators in space relate to several factors, most importantly, structural flexibility and subsequent difficulties with their position control. In this paper we present control methods for endpoint tracking of a 12.6 × 12.6m2 trajectory by a two-link robot manipulator. Initially, a manipulator with rigid links is modeled using inverse dynamics, a linear quadratic regulator and fuzzy logic schemes actuated by a Jacobian transpose control law computed using dominant cantilever and pinned-pinned assumed mode frequencies. The inverse dynamics model is pursued further to study a manipulator with flexible links where nonlinear rigid-link dynamics are coupled with dominant assumed modes for cantilever and pinned-pinned beams. A time delay in the feedback control loop represents elastic wave travel time along the links to generate non-minimum phase response. A time delay acting on control commands ameliorates non-minimum phase response. Finally, a fuzzy logic system outputs a variable to adapt the control law in response to elastic deformation inputs. Results show greater endpoint position control accuracy using a flexible inverse dynamics robot model combined with a fuzzy logic adapted control law and time delays than could be obtained for the rigid dynamics models.

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Salmasi, H., R. Fotouhi, and P. N. Nikiforuk. "A manoeuvre control strategy for flexible-joint manipulators with joint dry friction." Robotica 28, no. 4 (2009): 621–35. http://dx.doi.org/10.1017/s0263574709990373.

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SUMMARYA new control strategy based on the singular perturbation method and integral manifold concept is introduced for flexible-joint manipulators with joint friction. In controllers so far developed based on the singular perturbation theory, the dynamics of actuators of flexible-joint manipulators are partially modelled, and the coupling between actuators and links is ignored. This assumption leads to inaccuracy in control performance and error in trajectory tracking which is crucial in high-precision manipulation tasks. In this paper, a comprehensive dynamic model which takes into account the coupling between actuators and links is developed and a composite controller is then designed based on the singular perturbation theorem and integral manifold concept. To overcome the joint friction, a novel method is introduced in which a linear feed-forward torque is designed using the principle of work and energy. Finally, the experimental set-up of a single rigid-link flexible-joint manipulator in the Robotics Laboratory at the University of Saskatchewan is used to verify the proposed controller. Experimental results employing the new controller show that the trajectory tracking error during and at the end of the motion of the robot manipulator is significantly reduced.

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Petrić, Joško, and Joško Deur. "Flexible Manipulator Control Based on Inverse Dynamics Model and Joint Feedback." Journal of Robotics and Mechatronics 8, no. 3 (1996): 278–85. http://dx.doi.org/10.20965/jrm.1996.p0278.

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In this paper a problem of precise positioning and precise trajectory tracking during fast motions of flexible manipulator's tip is solved by using feedforward and feedback control. Feedforward control acting is the inverse dynamics of the flexible robot, and feedback control acting is a function of the joint variables (angular rotation and angular speed). Inversion of linearized mathematical model of the manipulator dynamics is calculated in the frequency domain, using Fourier transformation. The research presented is theoretical and experimental. Experimental verification of developed control algorithm is performed on the self-made one axis laboratory model of the flexible manipulator arm driven by the permanent magnet AC motor.

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Morris, A. S., and A. Madani. "Static and dynamic modelling of a two-flexible-link robot manipulator." Robotica 14, no. 3 (1996): 289–300. http://dx.doi.org/10.1017/s0263574700019603.

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SUMMARYThis paper is addressed at the difficulty of accurately modelling a two-flexible-link manipulator system, which is a necessary pre-requisite for future work developing a high-performance controller for such manipulators. Recent work concerned with the development of an accurate single-flexible-link model is first reviewed and then the expansion of a single-link model into a two-flexible-link system in a way which properly takes into account the coupling and interactions between the two links is discussed. The method of approach taken is to calculate the elastic and rigid motions of the links separately and then to combine these according to the principle of superposition. The application of the model developed is demonstrated in a simulated two-flexiblelink system.

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Shahinpoor, M., and A. Meghdari. "Combined flexural-joint stiffness matrix and the elastic deformation of a servo-controlled two-link robot manipulator." Robotica 4, no. 4 (1986): 237–42. http://dx.doi.org/10.1017/s0263574700009917.

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SUMMARYAn expression is derived for the combined flexural-joint stiffness matrix and the elastic deformation field of a servo-controlled two-link robot manipulator. Such expressions are needed in dealing with light weight high-speed flexible robot manipulators. The approach employs a strain energy invariance principle with respect to the elemental and the system reference coordinate frames to derive the desired 9 × 9 combined flexural joint stiffness matrix.

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Bien, Duong Xuan, Chu Anh My, and Phan Bui Khoi. "Dynamic analysis of two-link flexible manipulator considering the link length ratio and the payload." Vietnam Journal of Mechanics 39, no. 4 (2017): 303–13. http://dx.doi.org/10.15625/0866-7136/9234.

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Dynamic modeling and analysis of flexible manipulators play an essential role in optimizing mechanical design parameters and control law of real robot systems. In this paper, a nonlinear dynamic model of a manipulator is formulated based on the Finite Element Method. To analyze the dynamic behavior effectively, a numerical simulation scheme is proposed by taking full advantages of MATLAB and SIMULINK toolboxes. In this manner, the effect of varying payload and link length ratio of the manipulator to its elastic displacement is dynamically taken into account. The simulation results show that the payload and length link ratio have significant influences on the elastic displacements of the system. In particular, a proper spectrum of the link length ratio, in which the flexural displacement of the end point of the manipulator is smallest, is demonstrated. To this end, the proposed methodology could be used further to select optimal geometric parameters for the links of new robot designs.

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Yu, Yang, Shimin Wei, Haiyan Sheng, and Yingkun Zhang. "Research on Real-Time Joint Stiffness Configuration of a Series Parallel Hybrid 7-DOF Humanoid Manipulator in Continuous Motion." Applied Sciences 11, no. 5 (2021): 2433. http://dx.doi.org/10.3390/app11052433.

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In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree of freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering the potential human robot accidental collision, combined with the manipulator safety index (MSI) and human body injury thresholds, the motion speed and joint stiffness of the robot are optimized in advance. Secondly, using hyperbolic tangent function for reference, the relationship between joint torques and passive joint deflection angles of the robot is given, which is beneficial for the real-time calculation of joint stiffness and obtain reasonable joint stiffness. Then, the structural model of the selected humanoid manipulator is described, on this basis, the relationship between the joint space stiffness and the Cartesian space stiffness of the humanoid manipulator is analyzed through Jacobian matrix, and the results show that the posture and joint space stiffness of the humanoid manipulator directly affect the Cartesian space stiffness of the humanoid manipulator. Finally, according to whether the humanoid manipulator works in the human-robot interaction environment, the real-time joint stiffness configuration of the humanoid manipulator in continuous motion is simulated and analyzed. The research shows that the humanoid manipulator with flexible joints can adjust the joint stiffness in real-time during continuous motion, and the joint stiffness configuration strategy can effectively improve the safety of human body in human-robot collision. In addition, in application, when the joint space stiffness of the robot is lower, the position accuracy can be improved by trajectory compensation.

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Lima, Jeferson J., José M. Balthazar, Rodrigo T. Rocha, et al. "On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying." Shock and Vibration 2019 (February 14, 2019): 1–14. http://dx.doi.org/10.1155/2019/5408519.

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In recent years, the evolution of artificial intelligence techniques has widely grown such that it gives new ways to improve human life, not only at work but also living. Nowadays, to the human being, physical human-robot interactions (PHRIs) have been presented very important and present itself as a major challenge for the current engineering. Therefore, this work designs and analyses a two-degree-of-freedom robotic arm with flexible joints driven by a DC motor. Due to the interaction between the robot links and flexible joints, the arm may present overshoots when it is moved such that it becomes difficult to manipulate the arm. Therefore, Magnetorheological dampers (MR damper or MR brake) are attached to the links of the arm in order to control such overshoot and provide a way to adjust the mechanical limitations of the arm. The dynamics of the system will be investigated, showing the appearance of chaotic behavior due to the coupling of the manipulator to the motors. After that, the feedback control is obtained through the state-dependent Riccati equation (SDRE) aiming the control of the positioning of the manipulator and the torque applied on the MR damper. Numerical results showed that the proposed control using hybrid actuators, DC motor, and MR brake was effective to control the position and behavior of the flexible joints of the manipulators.

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Zhang, Fuli, and Zhaohui Yuan. "The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load." Sensors 21, no. 4 (2021): 1522. http://dx.doi.org/10.3390/s21041522.

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The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.

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korayem, M. H., and A. Basu. "Formulation and numerical solution of elastic robot dynamic motion with maximum load carrying capacities." Robotica 12, no. 3 (1994): 253–61. http://dx.doi.org/10.1017/s0263574700017227.

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SUMMARYThis paper presents a new formulation as well as numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators. For rigid manipulators, the major limiting factor in determining the maximum allowable load (mass and mass moment of inertia) is the joint actuator capacity, while the flexibility exhibited by light weight robots or by robots operating at a higher speed dictates the need for an additional constraint to be imposed for situations where precision tracking is required, that is, the allowable deformation at the end effector. The Lagrangian assumed mode method was used to model the manipulator and load dynamics, including both joint and deflection motions. An Iterative Linear Programming (ILP) method is then used to determine the maximum allowable load of elastic robot subject to both constraints, while a general computational procedure for the multiple-link case given arbitrary trajectories is presented in detail. Symbolic derivation and simulation by using a PC-based symbolic language MATHEMATICA® was carried out for a two-link planer robot and the results further confirm the necessity of the dual constraints.Rough joint flexibility is the dominant source of compliance in today's commercial robots in future robots containing light weight flexible arms link flexibility may become most important. Hence this paper stresses link flexibility rather than joint flexibility.

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Zouari, Lilia, Hafedh Abid, and Mohamed Abid. "Backstepping Controller for Electrically Driven Flexible Joint Manipulator Under Uncertainties." IAES International Journal of Robotics and Automation (IJRA) 4, no. 2 (2015): 156. http://dx.doi.org/10.11591/ijra.v4i2.pp156-163.

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The grown complexity of the robot manipulators dynamics taking into account the jointflexibility, parameter uncertainties and unknown bounded disturbances makes conventionalcontrol strategies difficult and complex to synthesize. This paper focuses on the investiga-tion into backstepping control of flexible joint manipulator driving by Brushless DC Motor(BDCM) in the presence of parameter uncertainties and unknown bounded disturbances fortracking trajectory. The goal of this paper is to compensate all uncertainties and distur-bances for flexible joint manipulator. To study the effectiveness of the controllers, backstep-ping controller has been developed for position control and an hysteresis controller has beentreated for current control. Simulation results of the response of the flexible joint manipu-lators associated with their controllers have been presented. The high performances of thebackstepping control are examined in terms of tracking accuracy and error reduction.

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de Queiroz, M. S., S. Donepudi, T. Burg, and D. M. Dawson. "Model-based control of rigid-link flexible-joint robots: an experimental evaluation." Robotica 16, no. 1 (1998): 11–21. http://dx.doi.org/10.1017/s0263574798000113.

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In this paper, we present an experimental evaluation of several link position tracking control algorithms for rigid-link flexible-joint robot manipulators. To study the performance of the controllers, an IMI 2-link direct-drive planar robot manipulator was modified to approximate linear torsional spring couplings from the actuators to the links. Preliminary experimental results seem to indicate that reduced-order, model-based controllers with an actuator feedback loop provide relatively good link position tracking while a full-order, model-based controller offers some further improvement in link position tracking at the expense of increased computation.

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Xiong, Genliang, Haichu Chen, Ruihua Zhang, and Fayun Liang. "Robot-Environment Interaction Control of a Flexible Joint Light Weight Robot Manipulator." International Journal of Advanced Robotic Systems 9, no. 3 (2012): 76. http://dx.doi.org/10.5772/51308.

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Zaki, Ahmed S., and W. H. ElMaraghy. "EXPERIMENTS ON THE MODELLING AND VIBRATION CONTROL OF A THREE-DEGREE OF FREEDOM MANIPULATOR WITH FLEXIBLE LINKS." Transactions of the Canadian Society for Mechanical Engineering 18, no. 1 (1994): 47–64. http://dx.doi.org/10.1139/tcsme-1994-0004.

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Industrial robots have lumped flexibility due to the drive mechanism and distributed flexibility due to the elasticity of the arm. By developing an accurate model for the robot dynamics, advanced control strategies can be formulated to improve the tracking performance and reduce the residual vibration of the robot end-point. In this paper, a flexible two-link, three-degree of freedom manipulator is treated. Based on experimental modal analysis results, a reduced order model for the robot is derived using Lagrangian dynamics. The links flexibility was included by superimposing the flexible motion over the rigid body motion using the finite-element approach. Based on this model, two controllers are designed and implemented on the robot. The first is a gain-scheduling regulator, while the second is based on the model reference approach. Experimental results show the ability of these controllers to damp the end-point vibration.

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Jumarie, Guy. "Tracking control of flexible robot manipulators with active inertia links." Robotica 8, no. 1 (1990): 73–80. http://dx.doi.org/10.1017/s0263574700007347.

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SUMMARYThe flexible structure of a robot multi-links manipulator can be either a side effect or, on the contrary, an essential feature. We present a fairly general model to derive the corresponding dynamic equations in quite a systematic and simple way. To this end, we use the Lagrange formulation with strain energy potential and Raleigh (dissipation) functions. The approach can incorporate torsional deformation and aerodynamic friction, and it applies easily to robots working in the sea. The trajectory control appears to be one in the presence of model imprecision, and a slightly modified version of the classical sliding control technique is utilized to design the tracking control of the manipulator. Then we introduce the time-varying inertia link device (carried out by means of sliding masses) which we suggested in earlier work, and we show how it can be used to improve the tracking control scheme above. This paper contributes new ideas concerning flexible multi-links arms and active inertia links.

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Hemami, Ahmad. "Studies on a light weight and flexible robot manipulator." Robotics 1, no. 1 (1985): 27–36. http://dx.doi.org/10.1016/s0167-8493(85)90306-7.

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Mohamed, Z., A. K. Chee, A. W. I. Mohd Hashim, M. O. Tokhi, S. H. M. Amin, and R. Mamat. "Techniques for vibration control of a flexible robot manipulator." Robotica 24, no. 4 (2006): 499–511. http://dx.doi.org/10.1017/s0263574705002511.

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This paper presents investigations into the applications and performance of positive and negative input shapers in command shaping techniques for the vibration control of a flexible robot manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the finite element method. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and specified amplitude negative input shapers are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped inputs are presented in the time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction, time response specifications and robustness to parameters uncertainty. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the impact amplitude polarities of the input shapers on the system performance is presented and discussed.

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NAKABAYASHI, Masataka, Fuyuki YAMAMOTO, Naotaka SAKAI, and Satoshi SHIMAWAKI. "1P1-F06 Development of flexible manipulator for surgical robot." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (2015): _1P1—F06_1—_1P1—F06_4. http://dx.doi.org/10.1299/jsmermd.2015._1p1-f06_1.

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