Dynamic simulation of flexible manipulator systems with structural damping by M. O. Tokhi

Cover of: Dynamic simulation of flexible manipulator systems with structural damping | M. O. Tokhi

Published by University of Sheffield, Dept. of Automatic Control and Systems Engineering in Sheffield .

Written in English

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StatementM.O. Tokhi, M.O.Poerwanto and A.K.M.Azad.
SeriesResearch report / University of Sheffield. Department of Automatic Control and Systems Engineering -- no.595, Research report (University of Sheffield. Department of Automatic Control and Systems Engineering) -- no.595.
ContributionsPoerwanto, H. ., Azad, A. K. M. .
ID Numbers
Open LibraryOL20831805M

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DYNAMIC SIMULATION OF FLEXIBLE MANIPULATOR SYSTEMS WITH STRUCTURAL DAMPING M O Tokhi, H Poerwanto and A K M Azad Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, Sheffield, Sl 3JD, UK. Tel: + 44 (0) Fax: +44 (0) E-mail: O.

[email protected] Research Report No. Book, W. and Majette, M. () Dynamic simulation of flexible manipulator systems with structural damping book design for flexible distributed parameter mechanical arms via combined state-space and frequency domain techniques, Transaction of ASME Journal of Dynamic Systems, Measurement and Control, vol.pp.

– zbMATH CrossRef Google ScholarAuthor: M. Shaheed, Abul K. Azad, M. Tokhi. Evaluation of an External Vibration Damping Approach for Robot Manipulators Using a Flexible Multi Body Simulation. control for a flexible base manipulator”, in Dynamic Systems.

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 by: A finite-dimensional simulation of the flexible manipulator system is developed using an FD discretisation of the dynamic equation of Dynamic simulation of flexible manipulator systems with structural damping book of the manipulator.

Structural damping, hub inertia and payload are incorporated in the dynamic model, which is then represented in a state-space by: characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system is developed based on finite element methods.

The flexural and rigid dynamics of the system as well as inertia effects and. The FD and FE approaches have been used in obtaining the dynamic characterization of a single-link flexible manipulator system incorporating damping, hub inertia and payload [2, 3].

Subudhi and. Equations were developed which describe the motion of a robot manipulator which incorporates both structural and joint flexibility.

The emphasis was on the dynamic model of a one-link flexible manipulator to show how critical it is to incorporate joint flexibility and to demonstrate the significance of cross coupling among state variables for small by: A parallel manipulator provides an alternative design to serial manipulators, and can be found in many applications such as mining machines (Arai et al., ).Through the design of active joints such that actuators are fixed to the manipulator base, the mass of moving components of the parallel manipulator is greatly reduced, and high speed and high acceleration performance may be by: 1.

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 by: 1.

In this paper a survey of the literature related to dynamic analyses of flexible robotic manipulators has been carried out. Both link and joint flexibility are considered in this work and an effort has been made to critically examine the methods used in these analyses, their advantages and shortcomings and possible extension of these methods to be applied to a general class of by: Investigations into the dynamic characterisation of a two-link flexible robot manipulator incorporating structural damping, hub inertia and payload have been presented.

A closed-form finite dimensional dynamic model of a planar two-link flexible manipulator has been developed using the Euler-Lagrange approach combined with the AMM. Vehicle-Manipulator Systems: Modeling for Simulation, Analysis, and Control (Advances in Industrial Control) [From, Pål Johan, Gravdahl, Jan Tommy, Pettersen, Kristin Ytterstad] on *FREE* shipping on qualifying offers.

Vehicle-Manipulator Systems: Modeling for Simulation, Analysis, and Control (Advances in Industrial Control)Format: Hardcover. This chapter presents numerical approaches based on finite difference (FD) and finite element (FE) techniques for dynamic simulation of single-link flexible manipulator systems.

A finite-dimensional simulation of the flexible manipulator system is developed using an FD discretisation of the dynamic equation of motion of the manipulator.

A methodology is then presented for obtaining the dynamic Cited by: 3. The ever increasing utilisation of robotic manipulators for various applications in recent years has been motivated by the requirements and demands of industrial automation. Among these, attention is focused more towards flexible manipulators, due to various advantages they offer compared to their rigid counterparts.

Flexural dynamics have constituted the main research challenge in modelling Reviews: 1. Simulation of flexible manipulator dynamics is an essential tool in developing and assessing their control in a more accurate manner.

This paper presents a systematic algorithm for such a purpose based on the mathematical modeling of flexible manipulators as flexible multi-body by: 1.

In this paper we investigate the dynamics of robotic interception and capture of a moving object. This problem, i.e., the interception and capture of a moving object by a robot, is called dynamic mass capture.

The effects of structural flexibility of the robot is taken into consideration. In terms of time, the analysis is divided into three phases: before capture (finite motion), at the Cited by: This paper presents a dynamic model of a planar parallel manipulator including structural flexibility of several linkages.

The equations of motion are formulated using the Lagrangian equations of the first type and Lagrangian multipliers are introduced to represent the geometry of multiple closed loop by: ACTIVE DAMPING IN A FLEXIBLE MANIPULATOR by Trung T.

Pham (Continued) PROBLEM FORMULATION (cont.) Control Laws: min J(q,u) (J is the cost function) (the equation of motion) (the equation of vibration) where q is the state of the manipulator, u the vibration, T the joint torque vector, El the Young's modulus, Pi the mass density, and ~Author: Trung T.

Pham. In order to control the angular displacement of the hub and to suppress the vibration at the end point of an underwater flexible single-link manipulator system efficiently, it is required to obtain an adequate model of the structure.

In this study, a mathematical model of an underwater flexible single-link manipulator system has been developed and modelled as a pinned-free, an Euler-Bernoulli Cited by: 1. The long length, light weight, low frequency, flexible joint and link of large space manipulators impact dynamic stability and position accuracy seriously.

In this paper, dynamical model of space flexible manipulators system is build base on Lagrange method. With three DOF manipulators as the research object, the impact of flexible link, joint stiffness and clearance on the system frequency Cited by: 1.

Book, "Recursive Lagrangian dynamics of flexible manipulator arms," Int. Robotics Research 3(3), (). Google Scholar Cross Ref; K.

Low and M. Vidyasagar, "A Lagrangian formulation of the dynamic model for flexible manipulator systems," ASME J. of Dynamic Systems, Measurement, and Control(). Google. suppression and input tracking of a flexible manipulator.

A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, a Linear Quadratic Regulator (LQR) was initially developed for control of rigid body motion.

Strojniški vestnik - Journal of Mechanical Engineering. [Online] %A Dupac, Mihai %A Noroozi, Siamak %D %T Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops %B %9 Robotic arm, flexible manipulator, extensible mechanism, clearance, dynamics %.

Robotics & Process Systems Division, Oak Ridge National Laboratory, Oak Ridge, TN A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator 1 Wayne J. Book George W. Woodruff SchOOl of Mechanical Engineering, Georgia Institute of.

This paper presents the development of an interactive and user-friendly environment for simulation and control of flexible manipulator systems. A constrained planer single-link flexible manipulator is considered. A simulation algorithm characterising the dynamic behaviour of the manipulator is developed using finite difference methods.

Flexible manipulators have been actively used in various fields, such as aerospace, industry and medical treatment.

It remains that the tip of the flexible manipulator should accurately trail the target trajectory without vibration.

This paper proposes a novel method of the tip position control of a single flexible manipulator based on LQR with the Mamdani : En Lu, Xuefeng Yang, Wei Li, Yuqiao Wang, Mengbao Fan, Yufei Liu.

MS Mechanical Sciences MS Mech. Sci. X Copernicus GmbH Göttingen, Germany /ms Coupled dynamic model and vibration responses characteristic of a motor-driven flexible manipulator system Liu Y.

Li W. [email protected] Yang X. Wang Y. Fan M. Ye G. 1 School of Mechatronic Engineering, China University of. modelling of a planar single link flexible robot manipulator clamped at its actuated base and carrying a payload at its end-point. The emphasis has been, essentially, set on obtaining accurate and complete equations of motion that display the most relevant aspects of the lightweight flexible link structural properties.

Two important damping. Modeling and Control of Flexible Manipulators Stig Moberg Department of Electrical Engineering Linköping University, SE– 83 Linköping, Sweden of both a simulated manipulator and of a real robot manipulator.

The last part of this work concerns feedback control. First, a model-based non. @article{osti_, title = {Micro manipulator motion control to counteract macro manipulator structural vibrations}, author = {Lew, J.Y. and Trudnowski, D.J. and Evans, M.S. and Bennett, D.W.}, abstractNote = {Inertial force damping control by micro manipulator modulation is proposed to suppress the vibrations of a micro/macro manipulator system.

flexible robot manipulator incorporating a payload. A planar two-link flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered.

A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods. Flexible Manipulator System. The flexible single-link manipulator system considered in this study is shown in Fig. The link has been modelled as a pinned-free flexible beam.

The pinned end of the flexible beam of length. is attached to the hub with inertia. h, where the input torque. t () is applied at the hub by a motor. 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 : Hai Wang, Xiao Pin Xia. simulation results of spatial flexible link manipulator that consists of three flexible links and three revolute joints is presented to compare the performance of each controller in terms of trajectory tracking and vibration suppression.

The dynamic model validation and performance of. Flexible Robot Manipulators: Modelling, Simulation and Control Azad, A. M., Tokhi, Mohammad O Industrial automation is driving the development of robot manipulators in various applications, with much of the research effort focussed on flexible manipulators and their advantages compared to.

This book has been cited by the following publications. This list is generated based on data provided by CrossRef. Bai, Shaoping Zhou, Lelai and Wu, Guanglei Handbook of Manufacturing Engineering and Technology.

Guida, Domenico and Pappalardo, Carmine M. Forward and inverse dynamics of nonholonomic mechanical by: flexible structure. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method.

A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively.

Performances of the controller are examined in terms of. Robotics and Autonomous Systems 41 () – Dynamic modelling, simulation and control of a manipulator with flexible links and joints B. Subudhi∗, A.S. Morris Department of Automatic Control &.

This paper addresses the dynamic simulation and control of structural vibrations of a 3-PRR parallel manipulator with three flexible intermediate links, to which are bonded lead zirconate titanate (PZT) actuators and sensors.

Flexible intermediate links are modelled as Euler–Bernoulli beams with pinned-pinned boundary by:. Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops where the distance d ON 1 (computed as in [36]) represents the variable distance between the centre of rotation of the guide denoted by O and the constrained trajectory, that is, the considered circular/circular-elliptic trajectory.rigid-flexible robotic systems incorporating damping are also outlined.

Keywords: Flexible, damping, logarithmic decay, method of evolving spectra 1 Introduction Dynamics of a flexible link manipulator is highly non-linear, configuration dependent and computationally com-plex.

Moreover, real robotic systems always involve exter.A study is presented in this paper that uses a simple mechanical analogy to analytically tune the PD (proportional-derivative) controller of a linear flexible manipulator system.

More specifically, the aim is to give simple closed-form solutions of the optimal P and D gains to yield the maximum bandwidth under a given damping requirement or > conversely the maximum damping under a given Cited by: 2.

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