2 edition of Tip control of a flexible manipulator using the computed torque technique. found in the catalog.
Tip control of a flexible manipulator using the computed torque technique.
Andrew Joseph Shchuka
Written in English
|The Physical Object|
|Number of Pages||116|
A feed forward, sometimes written feedforward, is an element or pathway within a control system that passes a controlling signal from a source in its external environment to a load elsewhere in its external environment. This is often a command signal from an external operator. A control system which has only feed-forward behavior responds to its control signal in a pre-defined way without. The majority of flexible-link robot controls use active methods, where external energy is provided to the system to control its response. Examples that used fixed models include that of Chapnik et al. (), whose controller was an open-loop computed torque, Jnifene and Fahim (), in which delayed deflection was added to. robot control algorithm on the performance of a teleoperation schemes that uses long reach, flexible manipulators. This. study investigates the infJ,uence ofpD, PD with input shaping, and PD with modified colri1and filtering on pick and place teleoperation tasks. Data from 90 trials using 6 operators is used in an attempt. To derive the dynamic equations of motion of a two-link flexible manipulator, the total energies associated with the manipulator system have to be computed using the kinematics formulations. The total kinetic energy of the manipulator, T is given by T = .
In this paper, we concentrate on the design of a new whole-sensitive robot arm enabling torque measurement in each joint by means of developed optical torque sensors. When the contact of arm with an object occurs, local impedance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with unstructured environment.
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Tip Deflection of Flexible Manipulator Mo 79 Hub Rotation of Flexible Manipulator Mo 80 Tip Deflection of Flexible Manipulator Mi.5 80 Hub Rotation of Flexible Manipulator M 81 Tip Response Under Test Control 85 Mean Value of Tip Deflection vs.
Maximum Tip. Control strategies are implemented to control the manipulator. The first control strategy uses the computed torque method based on a reduced-order dynamic model of the manipulator which is obtained by assuming that all the links are rigid.
This method is referred to as the reduced-order computed torque (ROCT) method. Computed torque control and a composite control, based on the singular perturbation theory, were utilized to reduce mechanical vibrations of the flexible-link by El-Badawy . In the composite control system, LQR control was designed for fast subsystem and enable better tip : En Lu, Xuefeng Yang, Wei Li, Yuqiao Wang, Mengbao Fan, Yufei Liu.
Tip Position Control of Flexible Manipulators through Visual Servoing In fact, the problem of damping out the vibrations can be faced using a composite control technique .
With this approach the design of a feedback controller can be the computed torque controller, is here by: 3. Then design considerations directly arising from the flexible nature of the arm are discussed. Finally, controls of joints for general and tip motion are discussed.
MODELING FLEXIBLE ~ Models are used for simulation, analysis, and synthesis. In robotics, models may be used directly in the control algorithm with the computed torque technique. subsystem. A feedback linearization technique using a Takagi‐Sugeno neuro‐fuzzy engine was adopted in .
Lin and Chen  propose a combined rigid model‐based the computed torque and fuzzy control of flexible‐joint manipulators. As to another aspect, an acceptable system performance. Manipulator’s control system based on computed torque techniques incorporates a model of the manipulator dynamics.
The nominal torque, computed using this mathematical model, does not reflect the effects of unknown loadings and uncertainty in modelling the parameters. Modeling, design, and control of flexible manipulator arms: a tutorial review.
All content in this area was uploaded by Wayne Book on torque control since the. tip. posltion. presented by Book  and Li and Sankar . The kinematics of manipulator using homogeneous transformation matrices is presented in .
In , the dynamic model of FLM is approximated by considering only two flexible modes. The way of expressing the tip deflection as a function of mode shapes is presented in  and , which is necessary.
The flexible manipulator is first investigated by Book et ai. . A flexible arm is assembled by connecting two flexible links together. The flexible links are modeled as uniform Euler-Bernoulli beam and the undamped free vibrational modes of fixed-free end conditions are chosen as the basis functions for discretization.
The. In this paper, two nonlinear controllers for a single flexible link manipulator are presented. These controllers are derived using sliding mode technique.
The first controller presented in this paper is a generalization of the computed torque which is used in conventional rigid robot control.
In this method, we have assumed that the model parameters of the planar single flexible manipulator. Abstract This paper examines the problem of controlling the tip of a single-link flexible manipulator.
A feedforward controller along with a P-D feedback controller are used to regulate the position of the arm's tip. It is shown analytically that the feedforward controller based on a precomputed torque provides an ‘almost’ pole-zero cancellation property Tip control of a flexible manipulator using the computed torque technique.
book minimizes the residues of the. This paper studies the problems of tip position regulation and vibration suppression of flexible manipulators without using the model.
Because of the two-timescale characteristics of flexible manipulators, applying the existing model-free control methods may lead to ill-conditioned numerical problems. In this paper, the dynamics of a flexible manipulator is decomposed into two subsystems. The problem of modelling end point control of a one-linkflexible manipulator has been considered.
The assumed mode methodas well as the Lagrangian dynamics are used to develop the dynamicmodel. It has been shown that a conventional computed torquecontroller cannot deal with the end point vibrations of flexiblelinks. The non-minimum phase characteristic of the end pointcontrol of a one link.
Abstract. Model identification and control of a single-link very flexible manipulator is carried out in this paper. The objective of this paper is to first find the transfer functions relating the tip position to the motor position and the motor position to the motor current, and then use these transfer functions to control the tip position of the manipulator.
1. Introduction. Flexible manipulators (FMs) are being used for many applications in industry , aerospace , medical science , home use , education [1, 5], chaos theory , above-stated applications of FMs are increasing gradually because of their many inherent advantages .Various types of control problems are considered for an FM in the literature.
Control strategies, computed torque control and a composite control, based on the singular perturbation formulation developed, are utilized to reduce mechanical vibrations of the flexible-link and enable better tip positioning.
Under the composite control technique, the effect of the value of perturbation parameter on the control signal is investigated. This paper addresses the problem of controlling a two-flexible-link manipulator. The idea of industrial manipulators having some lightweight, flexible links is attractive if high-speed motion is required in manufacturing operations because they avoid the severe control problems associated with the large inertia forces generated when the large-mass rigid links in conventional robot manipulators.
Modeling and Control of Flexible Manipulators - DiVA. Posted on by pesa. Expanded encyclopaedias of DNA elements in the human and.
Trajectory Control of Flexible Manipulators Alessandro De Luca robots for which these methods are equivalent to the well-known computed torque technique.
Use of the larger class of dynamic state feedback controllers is helpful, because elastic joint robots are in fact input-output invertible sys- of the manipulator tip. Based on this. Murotsu et al. [1,2] proposed control schemes for flexible space manipulator using a virtual rigid manipu-lator concept.
Samanta and Devasia  have discussed modeling and control of flexible manipulates using dis-tributed actuator. A technique is presented to analyze the dynamics of flexible manipulators using bond graphs.
The load-compensated feedforward control technique was used by Kwon et al. for the tracking control of a flexible manipulator. The control techniques (except the sliding mode control) mentioned above are not robust when regulating the tip position of a flexible manipulator in the presence of an unknown payload and parameter uncertainties such.
were compared with the computed torque control (CTC) with RAC scheme to benchmark the performance and robustness of the AFC-based counterpart. The MM consists of a skid steering four wheel nonholonomic mobile platform with a three degree-of-freedom (DOF) articulated manipulator attached on top.
With the proposed. positive and negative input shapers for vibration control of a single-link flexible manipulator have also been reported (Mohamed et al., ). In general, control of flexible manipulators can be made easier by locating every sensor exactly at the location of the actuator, as collocation of the sensors and actuators guarantees stable servo control.
planar flexible manipulator in a given fixed time. The method is based on backward integration of elastic dynamics. Abe proposed a novel trajectory planning technique to control the residual vibration of a large deformable flexible manipulator  and a flexible Cartesian manipulator  in.
The flexible link manipulator considered in this work is shown in Fig.1, where θ is the angle of flexible link hub and α Figure 1: Flexible link manipulator is the flexible link arm angle (i.e.
arm’s deflection). The base of flexible link manipulator which determines the tip angular position of the flexible link is driven by servomotor. investigated. A parallel force and position control scheme of flexible manipulators using perturbation theory was proposed (Siciliano, B.
& Villani, L., ). Inan algorithm employing the computed torque method in the free space and hybrid motion/force controller for rigid manipulators was presented (Bennon, et al., ). This paper presents modeling of a flexible link manipulator using Lagrangian technique in conjunction with the assumed mode method (AMM).
The links are modeled as Euler-Bernoulli beams satisfying proper mass boundary conditions. A payload is added to the tip of the outer link, while hub inertias are included at the actuator joints. The thesis investigates the planar dynamics and control of a novel, flexible, multimodule manipulator with slewing and deployable links, which may be used in space - as well as ground - based operations.
The system is composed of a flexible orbiting platform supporting two modules connected in a chain topology. Each module consists of two links: one free to slew while the other permitted to.
In flexible structure, a piezoelectric actuator is applied to single-link flexible manipulators in [8–10] and applied to two-link flexible manipulators in.
These works considered control torque of the motor, determined based on the rigid link dynamics and the oscillations caused by the torque are suppressed by applying a feedback control. This book presents the most recent research results on modeling and control of robot manipulators.
Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models.; Chapter 2 describes the main features of serial robots, the different.
The robot manipulators are highly nonlinear, time varying and one of the important challenges in the field of robotics is the effective control of manipulators.
This paper presents a technique to extract the rules of Fuzzy Logic Computed Torque Contr. Multi-Link Flexible Manipulator ~computed using the input shaping techniques!, the obtained ‘‘shaped’’ joint motions are then used to compute a feedforward control torque ~obtained via a classical ‘‘rigid’’ computed torque technique!, ﬁnally, this torque law is added to a feedback joint.
I think you meant inverse kinematics control and computed torque control. (you may find slight differences between them in some books, but they are conceptually same) usually computed torque. Control This chapter presents an introduction to the dynamics and control of robot manipulators.
We derive the equations of motion for a general open-chain manipulator and, using the structure present in the dynam-ics, construct control laws for asymptotic tracking of a desired trajectory.
a collocated PD controller for control of rigid body motion by using feed forward control scheme based on input shap-ing, low-pass ltering techniques. A strain feedback control technique have been combined with the PD control for vibration control of the manipulator .
Economoua et al.  proposed a preconditioning approach based on designing. INERTIAL VIBRATION DAMPING CONTROL FOR A FLEXIBLE BASE MANIPULATOR Lynnane E. George Wayne J. Book directly to the tip of the flexible manipulator. On the one hand, if the motion of the micromanipulator or combined this technique can be very effective.
The controlled interaction forces are collocated with the vibration at the tip of the. methods to control robots with elastic links.’” Unfortunately, the majority of these techniques have been tested only on single link, fixed length, single plane of vibration test beds that use electromagnetic actuation.
Flexure Control Strategies Book showed the fundamental limitation conventional control strategies when used on flexible. The disadvantage of computed-torque control is the fact that the parameters of the model must be provided precisely.
If there is uncertainly which is always the case, the PD computed-torque controller is not applicable. It is solely utilized in a pure simulation. actuator, as collocation of sensors and actuators guarantees stable servo control (Gevarter, ).
In the case of flexible manipulator systems, the end-point position is controlled by obtaining the parameters at the hub and end-point of the manipulator and using the measurements as a basis for applying control torque at the hub.
Manipulators with Flexible Link This work proposes a tracking control model for a flexible link robotic manipulator using simultaneously motor torques and piezoelectric actuators.
The dynamic model of manipulator is obtained in a closed form through the Lagrangian approach. The control.This book presents the most recent research results on modeling and control of robot manipulators.
Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different.
Many control methods have been proposed to control the flexible manipulators employing proportionalderivative (PD) control (Yigit, ), adaptive control (Lin and Yeh, ; Yang et al., ), computed torque method (King et al., ), robust control (Morita et al., ), sliding mode control (Kalaykov and Iliev, ), etc.