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Dissertations / Theses on the topic 'Single link flexible manipulator'

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Published: 3 June 2025

Last updated: 31 July 2025

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1

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. Equatio

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2

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

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3

Su, Zhihong. "A neural network based controller for a single-link flexible manipulator using the inverse dynamics approach." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0019/MQ54322.pdf.

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4

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

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

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5

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

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6

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

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7

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

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8

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

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9

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

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10

Letchworth, Gary Franklin. "Computer graphics simulation of two link flexible manipulator arm motions." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/15870.

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11

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

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12

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

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13

Huggins, James D. "Experimental verification of a model of a two-link flexible, lightweight manipulator." Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/16767.

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14

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

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15

Padilla, Carlos E. "Nonlinear strain-displacement relations in the dynamics of a two-link flexible manipulator." Thesis, Massachusetts Institute of Technology, 1989. http://hdl.handle.net/1721.1/14524.

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16

Girvin, Douglas Lynn. "Numerical analysis of right-half plane zeros for a single-link manipulator." Thesis, Georgia Institute of Technology, 1992. http://hdl.handle.net/1853/16945.

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17

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

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

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18

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

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19

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

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20

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

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碩士<br>國立臺灣科技大學<br>機械工程系<br>90<br>The purpose of this paper is to propose a model reference adaptive controller and an adaptive sliding controller for a single-link flexible manipulator whose parameters are unknown and can be time-varying with unknown bounds. Since the conventional robust designs and adaptive strategies cannot be applied directly, the function approximation technique that realized by finite-term orthogonal series is used to estimate those uncertain terms. Because the coefficients of the function approximation are time-invariant, control strategies and update laws can be easily

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21

Kirkland, Michael. "Implementation of dynamic control of a single-link flexible arm using a government micro-computer." Thesis, 1988. http://hdl.handle.net/10945/23263.

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Approved for public release; distribution is unlimited<br>Today's demand for a high speed, low weight and large load capable manipulator has spurred the research on flexible manipulators. This thesis centers on an implementation of dynamic control on a single-link flexible arm utilizing a general purpose micro-computer. This research also studies the dynamic behavior of the control system with a brief comparison of the derived flexible-body-model controller to a rigid-body-model controller.<br>http://archive.org/details/implementationof00kirk<br>Lieutenant, United States Navy

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22

Gannon, Kevin P. "Modeling and experimental validation of a single-link flexible manipulator." Thesis, 1986. http://hdl.handle.net/10945/21981.

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23

Huang, Jhih-Wei. "Nonlinear Backstepping Control of a Single-Link Flexible Robotic Manipulator." 2007. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0020-2208200723054700.

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24

Qian, Timothy W. T. "Experimental sliding mode control of a flexible single link manipulator." Thesis, 1993. http://hdl.handle.net/2429/1663.

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Employing flexible robot arms is of great importance to the intended enhancement of the performance of current generation robots to achieve higher efficiency. It is also indispensable to space related applications due to various restraining factors in that field. The reason that there is still very scarce usage of flexible arm lies in the difficulties involved in designing and implementing a good controller to achieve the desired performance. Though a wealth of literature has already appeared on this subject, the number of controller design schemes presented has been small. Still fewer are the

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25

Huang, Jhih-Wei, and 黃志偉. "Nonlinear Backstepping Control of a Single-Link Flexible Robotic Manipulator." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/37893189882034243603.

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碩士<br>國立暨南國際大學<br>電機工程學系<br>95<br>At present, lots of flexible manipulators are commonly utilized in modern industry. In the manufacturing industry, higher productivity needs to have manipulators that can operate with higher speed, more precision, less power consumption, lower cost and improved payload handing capabilities. These requirements translate into manipulators that must have structural flexibility and be lightweight. In this thesis, the backstepping design scheme is developed for the tip-position trajectory tracking control of single-link flexible robotic manipulator systems. An infi

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26

Petroka, Robert P. "Computer simulation and experimental validation of a dynamic model (equivalent rigid link system)--on a single-link flexible manipulator." Thesis, 1986. http://hdl.handle.net/10945/21731.

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Approved for public release; distribution unlimited.<br>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 is desired in robot system performance it is necessary to consider flexible manipulators. This project simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System dynamic model and experimentally validates the computer simulation results Validation of the flexible manipulator dyna

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27

Liu, Liang-Yih, and 柳良義. "Control of Single-Link Flexible Manipulators Via Infinite Product Formulation." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/08995727023539968149.

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博士<br>國立臺灣大學<br>機械工程學研究所<br>91<br>In this thesis, a single-link flexible manipulator having a tip payload is investigated using a linear distributed parameter model. With the joint torque as the input and the joint angle plus a weighted value of tip deflection as the measured output, an exact transfer function involving transcendental functions is derived. A necessary and sufficient condition independent of the parameters of the system is obtained such that the irrational transfer function is marginal minimum phase. The effect of the mass of tip payload on the marginal minimum phase condition

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28

Laxmanrao, Mute Dinesh. "Adaptive Iterative Learning Control of a Single-Link Flexible Manipulator Based on an Identiﬁed Adaptive NARX Model". Thesis, 2013. http://ethesis.nitrkl.ac.in/4646/1/211EE3002.pdf.

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Flexible-link robots are more widely used in areas such as microsurgery, defense and space vehicles. Compared to rigid robot manipulator because of light weight, low inertia, higher payload carrying capacity and faster executable motion. Flexible robots consist of manipu- lators that are made of ﬂexible and lightweight materials. In addition to these beneﬁts they are associated with serious control problem of vibration. As the structure is ﬂexible when it is actuated and it vibrates with low frequency and after some time the vibrations gets reduced. Hence the control problem for the ﬂexible ro

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29

Gurses, Kerem. "Dynamic modeling and vibration control of a single-link flexible manipulator using a combined linear and angular velocity feedback controller." Thesis, 2007. http://hdl.handle.net/1828/1237.

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The use of lightweight, thin flexible structures creates a dilemma in the aerospace and robotic industries. While increased operating efficiency and mobility can be achieved by employing such structures, these benefits are compromised by significant structural vibrations due to the increased flexibility. To address this problem, extensive research in the area of vibration control of flexible structures has been performed over the last two decades. The majority of the research has been based on the use of discrete piezoceramic actuators (PZTs) as active dampers, as they are commercial ava

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30

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

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

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31

王文智. "Position control of a one-link flexible mechanical manipulator." Thesis, 1989. http://ndltd.ncl.edu.tw/handle/40262221984957388254.

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32

Gogoi, Upasana. "Model Predictive Control of a Two-Link Flexible Manipulator." Thesis, 2015. http://ethesis.nitrkl.ac.in/7813/1/2015_MT_Model_GOGUI.pdf.

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Flexible manipulators are widely used because of the many advantages it provides like low weight, low power consumption leading to low overall cost. However due to the inherent structural flexibility they undergo vibrations and take time to come to the desired position once the actuating force is removed .The most crucial problems associated while designing a feedback control system for a flexible-link are that the system being non-minimum phase, under-actuated and non-collocated because of the physical separation between the actuators and the sensors. Moreover from mathematical point of view

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33

Xu, Rui-Bin, and 許瑞斌. "Adaptive Fuzzy Position Controller for A One-Link Flexible Manipulator." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/09123177916980878295.

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34

Parida, Anuraag, and Subhakanta Ranasingh. "Modeling and Robust PD Compensation of Two-Link Flexible Manipulator." Thesis, 2011. http://ethesis.nitrkl.ac.in/2185/1/Thesis-submittedbyAparidaSranasingh.pdf.

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The Two Link Flexible manipulator (TLFM) is a two-input-two-output, highly nonlinear and unstable system. Therefore, modeling and control system design of such a system is a challenging task. To this end, first, to establish a non-linear mathematical model of the TLFM, its kinematic and dynamic motions are analyzed through assumed mode method. Then a linearized model about equilibrium point at origin is obtained from this nonlinear model via “linmod/linearize” command in MATLAB. Next, for this linearized model a two-loop robust PD controller is designed via root locus based loop shaping approa

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35

Sahu, Umesh Kumar. "Adaptive and Vision Based Controllers for a Flexible Link Manipulator." Thesis, 2020. http://ethesis.nitrkl.ac.in/10191/1/2020_PhD_UKSahu_514EE1017_Adaptive.pdf.

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In recent years, Flexible¬Link Manipulators (FLMs) find a wide spectrum of applications including space exploration, defense and medical services owing to several advantages over the rigid manipulators. These advantages are, high payload¬to¬mass ratio, lower actuation, high¬speed operation, more maneuverability and transportability, and reduced power consumption. However, in view of the flexible structure of the links in these manipulators, a number of control complexities arise. Owing to non¬collocated sensors and actuators, FLM behaves as a non¬minimum phase system. In order to represent the

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36

Chaudhuri, Aloke. "Neural network based modeling and control of a flexible-link manipulator." Thesis, 1994. http://spectrum.library.concordia.ca/3762/1/MM97635.pdf.

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37

Pan, Cheng-Chung, and 潘建忠. "Analytical Dynamics Model and Control for a Planar Two-link Flexible Manipulator." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/11764459266939029372.

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碩士<br>國立中興大學<br>機械工程學系<br>93<br>ABSTRACT In this thesis, we first derived the exact partial differential equations and the complete boundary conditions for a planar two-link flexible manipulator by using the extended Hamilton’s principle. In order to analyze the two links’ mode shape functions and characteristic frequencies, we propose appropriate flexible-variable transformations to obtain homogenous boundary conditions in terms of new flexible variables. Then, dynamic ordinary differential equations for the two-link flexible manipulator are derived utilizing the assumed modes method, and by

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38

Pradhan, Santanu Kumar. "Development of New Adaptive Control Strategies for a Two-Link Flexible Manipulator." Thesis, 2013. http://ethesis.nitrkl.ac.in/4561/1/Santanu_PhD_Thesis_(509EE106).pdf.

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Manipulators with thin and light weight arms or links are called as Flexible-Link Manipulators (FLMs). FLMs offer several advantages over rigid-link manipulators such as achieving highspeed operation, lower energy consumption, and increase in payload carrying capacity and find applications where manipulators are to be operated in large workspace like assembly of freeflying space structures, hazardous material management from safer distance, detection of flaws in large structure like airplane and submarines. However, designing a feedback control system for a flexible-link manipulator is chall

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39

Chang, Jeang-Lin, and 張浚林. "Force Control of A Single Link Flexible Arm." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/16894619702026856181.

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碩士<br>國立交通大學<br>控制工程系<br>82<br>In this paper, a scheme similiar to the finite element method is proposed to model a flexible arm which tip position is placed on a fixed plane. We first describe the reaction force at the tip position which is related to the motor angle and the beam deflection. That problem on this fact, the force control problem can be transformed into a position contro problem of the flexible arm. Further a force controller of the flexible arm is designed by the PID control

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40

Sun, Yun Ping, and 孫允平. "Composite Feedback Control of Planar Two-Link Flexible Manipulator with Singular Perturbation Method." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/24780066982549987589.

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41

李孟昌. "Intelligent Position Control of Single-Link Flexible Robot Arm." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/93940666797052237719.

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碩士<br>元智大學<br>電機工程研究所<br>89<br>Abstract This thesis proposes an intelligent optimal control system for a single-link flexible robot arm driven by a permanent magnet (PM) synchronous servomotor. First, a PM synchronous servomotor is implemented to drive a single-link flexible robot arm forming a nonlinear motor-mechanism coupling system. Then, the dynamic model of a flexible robot arm with a tip mass is introduced. When the tip mass of the flexible robot arm is a rigid body, not only bending vibration but also torsional vibration are occurred. The states of the nonlinear system, whic

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42

Park, Ki Soon. "Control system simulation for a single-link flexible arm." Thesis, 1987. http://hdl.handle.net/10945/22698.

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43

Chen, Bin-Yung, and 陳斌勇. "Design and Control of a Single Link Flexible Arm." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/24835631358909916043.

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碩士<br>國立屏東科技大學<br>機械工程系<br>90<br>This thesis is about a design and control of a single link flexible arm (SLFA). The research work includes establishing a SLFA mathematical model, analyzing its dynamic response and model simplification verification, and performing controller design using the simplified model. Furthermore, we performed an optimal parameter design for the SLFA structure using the Taguchi Techniques. At first, from the model simplification verification, we found when the SLFA model was subjected to a test torque, a negative pulse followed by a positive pulse, the truth

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44

Wu, Chien-Yi, and 吳建億. "Single-Link Flexible Arm Control Using Neural Dynamic Optimization Method." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/99001070652302063764.

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碩士<br>國立屏東科技大學<br>機械工程系<br>93<br>The main feature of NDO is that it enables neural networks to approximate the optimal feedback solution, reducing the complexities of computation and storage problems of the classical methods such as dynamic programming (DP). Following some background and motivation about applying NDO on Single-Link Flexible Arm control, both linear and nonlinear models of Single-Link Flexible Arm dynamic system are presented. Particularly, we employ a conjugate gradient steepest descent algorithm for the NDO method to approximate the optimal control solution. The simulation re

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45

Tsui, Chih-Cheng, and 崔至誠. "Near-Minimum-Time Control of a Two-Link Rigid-Flexible Manipulator Admitting Large Elastic Deflection." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/13428270805621446314.

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碩士<br>國立臺灣大學<br>機械工程學研究所<br>87<br>In this thesis, a simplified geometrically exact model for the two-link rigid-flexible manipulator is proposed. This simplified model not only preserved nearly all the intrinsic dynamic properties of the real system, but is also easy for the implementation of the mathematical tools such as modal expansion, thus helps one to study the system's correct dynamics via numerical simulation. Also in this thesis, the near-minimum-time position control using a PD controller is designed based on the geometrically-exact, nonlinear, distributed-parameter model. The conser

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46

Huang, Chin-Tsang, and 黃金燦. "A Combined H∞/QFT Control of a Single-Link Flexible Arm." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/14694543933999192065.

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碩士<br>國立屏東科技大學<br>機械工程系<br>93<br>This thesis combines the synthesis of H∞ optimal control with quantitative feedback theory (QFT) for an application of single-link flexible arm control. An 8th order linear system model of the single-link flexible arm, which neglects the longitudinal deformation effect, is used in the controller synthesis comparision between conventional QFT and combined H∞/QFT methods. The system uncertainty is considered in the design process. Conventional QFT method uses plant uncertainty and system output performance specifications to set the the tracking and the stability

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WEI, HOME-SHENG, and 魏鴻勝. "Controller Design and Experiment Verification of a Single-Link Flexible Arm." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/84525180716238287955.

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碩士<br>國立屏東科技大學<br>機械工程系<br>91<br>This thesis is about controller design and experiment verification of a Single-Link Flexible Arm (SLFA). The research includes establishing a SLFA mathematical model, analyzing its dynamic response, controller design, and building a SLFA for an experimental verification. At first, we establish the SLFA mathematical model and verify the feasibility of a simplified model. Since using a partial differential equation model to describe the SLFA dynamic response, it will only make a controller design difficult and impossible. We use the verified simplified SLFA model

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張坤麒. "Dynamic modeling and feedback linearizing control of a two-link flexible manipulator including centrifugal stiffening effect." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/40190980017780130405.

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Wu, Jenq-Yann, and 吳政彥. "Dynamic Modelling and Force Control of a Constrained Single-Link Flexible Arm." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/46209081750310003616.

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GU, HUI-WEN, and 古惠文. "Robust adaptive sliding-mode controller design of a single-link flexible arm." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/13435987600903084441.

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