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Trajectory and Force Control of a Manipulator With Elastic Links
- Journal of Vibration and Control
, 2004
"... Abstract: This paper deals with trajectory and force control of a two-link manipulator with elastic links. The manipulator has a macro–micro mechanism and at the tip of which is an end-effector with a force sensor. Equations of motion are first derived by using a finite-element method for the elasti ..."
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Abstract: This paper deals with trajectory and force control of a two-link manipulator with elastic links. The manipulator has a macro–micro mechanism and at the tip of which is an end-effector with a force sensor. Equations of motion are first derived by using a finite-element method for the elastic deformations. Then, by eliminating the residual modes based on the eigenvalue analysis, the reduced-order equations for controller design are derived. Geometrical constraints are modeled by using a Lagrangian multiplier. The proposed control system consists of a feedforward controller and a feedback controller. The feedforward controller generates the input torques and force based on inverse dynamics. It also generates the reference signals for the feedback controller based on inverse kinematics. The calculation methods for inverse dynamics and inverse kinematics are based on the algorithm that we have proposed. The performance of the proposed control system is verified by numerical simulations and hardware experiments. Key Words: Manipulator, elastic link, trajectory and force control, macro–micro mechanism 1.
Modelling of neurofuzzy control of a flexible link
, 2009
"... Abstract: A modelling approach for neuro-fuzzy control of a single-link flexible robot manipulator that uses a computer-aided design (CAD) program is proposed. Initially, a CAD model of the flexible link is created using experimentally determined values of system parameters. This CAD model is then e ..."
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Abstract: A modelling approach for neuro-fuzzy control of a single-link flexible robot manipulator that uses a computer-aided design (CAD) program is proposed. Initially, a CAD model of the flexible link is created using experimentally determined values of system parameters. This CAD model is then exported to MATLAB software and the Simulink/ SimMechanics toolbox. An adaptive-network-based fuzzy logic controller is used for position and vibration control of the flexible link. Experimental and simulation results are presented that validate the proposed approach.
QFT Control of a Two-Link Rigid-Flexible Manipulator
, 2013
"... This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This sys ..."
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This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multioutput (MIMO) control systems whose inputs are two motor torques which are applied on the joints and a voltage which is applied on the piezoelectric patch. To control the manipulator's end point position, motion of the manipulator is divided to two rigid and flexible parts. To control both parts, nonlinear equations of the motion is replaced by a family of uncertain linear time-invariant equivalent systems using Rafeeyan-Sobhani's method(RS method) which results in three decoupled transfer functions established in the Laplace domain. Then the QFT method is used to design a diagonal matrix as the prefilter of the system an another diagonal matrix as the system controller. Results demonstrate the remarkable performance of the proposed controllers in reduction of residual vibration of elastic link and tracking a circular trajectory by the manipulator end point.
© IDOSI Publications, 2009 Dynamic Modeling of Robot Manipulators in D-H Frames
"... Abstract: This study presents a novel dynamic modelling of a rigid serial manipulator using a compact formula of inertia tensor to simplify dynamic modelling and mathematical transformations. The matrix transformation is used appropriately as a powerful tool for this purpose. The kinetic energy, the ..."
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Abstract: This study presents a novel dynamic modelling of a rigid serial manipulator using a compact formula of inertia tensor to simplify dynamic modelling and mathematical transformations. The matrix transformation is used appropriately as a powerful tool for this purpose. The kinetic energy, the potential energy and the inertia matrix of manipulator all are formulated in Denavit-Hartenberg frames (D-H) for deriving the dynamic model. This modelling approach is derived directly from the kinematic results in D-H frames. The proposed approach is simpler with fewer calculations in comparing with conventional approach which requires additional calculations in the center of mass frames (COM). The extreme calculations in the conventional approach are done to form inertia matrix of manipulator where the terms of manipulator Jacobian must be reformed due to COM frames. Key words: Denavit-Hartenberg frames • Dynamic modelling • Inertia formulation • Serial manipulator
FOR
, 2005
"... Prof. Dr. Canan Ozgen Director I certify that thesis satisfies all the requirements as a thesis for the degree of Doctor of Philosophy. ..."
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Prof. Dr. Canan Ozgen Director I certify that thesis satisfies all the requirements as a thesis for the degree of Doctor of Philosophy.
Trajectory tracking for SCARA robots with compliant transmissions: a technique to improve the positioning precision
"... Abstract—The paper describes a method for reducing the positioning errors of a SCARA manipulator during the execution of a motion along a given trajectory; the stiff-ness and damping properties of the robot transmissions are considered in the mathematical model by introducing vis-coelastic component ..."
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Abstract—The paper describes a method for reducing the positioning errors of a SCARA manipulator during the execution of a motion along a given trajectory; the stiff-ness and damping properties of the robot transmissions are considered in the mathematical model by introducing vis-coelastic components between the actuators and the arms. By means of an optimization algorithm the motion laws of the actuators are modified in such a way as to minimize the mean positioning error of the end-effector along the as-signed trajectory, without changing the total motion time. In order to demonstrate the feasibility of the method, some numerical results are presented and discussed in the paper. Keywords:Trajectory tracking, compliance, SCARA robot I.
