Dynamic Analysis and Position Control of a Single Flexible-link Flexible-joint Robot Manipulator Using Time Delay PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Dynamic Analysis and Position Control of a Single Flexible-link Flexible-joint Robot Manipulator Using Time Delay PDF full book. Access full book title Dynamic Analysis and Position Control of a Single Flexible-link Flexible-joint Robot Manipulator Using Time Delay by Yuan Dong. Download full books in PDF and EPUB format.
Author: Yuan Dong
Publisher:
ISBN:
Category : University of Ottawa theses
Languages : en
Pages : 306
Get Book Here
Book Description
Author: Yuan Dong
Publisher:
ISBN:
Category : University of Ottawa theses
Languages : en
Pages : 306
Get Book Here
Book Description
Author: Mark C. Readman
Publisher: CRC Press
ISBN: 9780849326011
Category : Technology & Engineering
Languages : en
Pages : 164
Get Book Here
Book Description
Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited by joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate systems and includes an analysis of the fast dynamics.
Author: Fei-Yue Wang
Publisher: World Scientific
ISBN: 9789812796721
Category : Technology & Engineering
Languages : en
Pages : 464
Get Book Here
Book Description
Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators. Sample Chapter(s). Chapter 1: Flexible-link Manipulators: Modeling, Nonlinear Control and Observer (235 KB). Contents: Flexible-Link Manipulators: Modeling, Nonlinear Control and Observer (M A Arteaga & B Siciliano); Energy-Based Control of Flexible Link Robots (S S Ge); Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials (O Al-Jarrah et al.); Force Control of Flexible Manipulators (F Matsuno); Experimental Study on the Control of Flexible Link Robots (D Wang); Sensor Output Feedback Control of Flexible Robot Arms (Z-H Luo); On GA Based Robust Control of Flexible Manipulators (Z-Q Xiao & L-L Cui); Analysis of Poles and Zeros for Tapered Link Designs (D L Girvin & W J Book); Optimum Shape Design of Flexible Manipulators with Tip Loads (J L Russell & Y-Q Gao); Mechatronic Design of Flexible Manipulators (P-X Zhou & Z-Q Xiao); A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis (Y-Q Gao & F-Y Wang). Readership: Researchers, lecturers and graduate students in robotics & automated systems, electrical & electronic engineering, and industrial engineering
Author: M. Osman Tokhi
Publisher: IET
ISBN: 0863414486
Category : Technology & Engineering
Languages : en
Pages : 579
Get Book Here
Book Description
This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.
Author: Rush D. Robinett III
Publisher: Springer Science & Business Media
ISBN: 1461505399
Category : Technology & Engineering
Languages : en
Pages : 353
Get Book Here
Book Description
This book is the result of over ten (10) years of research and development in flexible robots and structures at Sandia National Laboratories. The authors de cided to collect this wealth of knowledge into a set of viewgraphs in order to teach a graduate class in Flexible Robot Dynamics and Controls within the Mechanical En gineering Department at the University of New Mexico (UNM). These viewgraphs, encouragement from several students, and many late nights have produced a book that should provide an upper-level undergraduate and graduate textbook and a reference for experienced professionals. The content of this book spans several disciplines including structural dynam ics, system identification, optimization, and linear, digital, and nonlinear control theory which are developed from several points of view including electrical, me chanical, and aerospace engineering as well as engineering mechanics. As a result, the authors believe that this book demonstrates the value of solid applied theory when developing hardware solutions to real world problems. The reader will find many real world applications in this book and will be shown the applicability of these techniques beyond flexible structures which, in turn, shows the value of mul tidisciplinary education and teaming.
Author: Amor Jnifene
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
Get Book Here
Book Description
Current robot manipulators are controlled using methods that do not take into account the links and joints flexibility. Consequently, tasks are usually carried in a slow fashion. The objective of this research is to improve the performance of light weight flexible manipulators by developing dynamic models and control strategies that include the effects of the links flexibility. Toward achieving this objective, the dynamic model of a single link flexible manipulator has been developed. Two hermit cubic functions are used in conjunction with the deflection and the slope at the tip of the link in order to express the deflection at any point along the link. The model is used to simulate the response of the single link manipulator and its ability to follow various trajectories under collocated control. Even though collocated control such as the computed torque method leads to asymptotic stability in the case of rigid link manipulators, the end point of the single link flexible manipulator has shown sustained oscillations under this type of control. In order to improve the performance of the single link and reduce the tip deflection, dynamic stiffening has been added to the link by using the angular position of a point along the link as the controlled variable. This control method is referred to as the non collocated control. Simulations of the robot motion under non collocated control has shown a significant reduction in the position error of the end point. In order to increase the damping of the flexible link, a new approach referred to as the Computed Torque/Delayed Deflection (CTDD) has been used. The CTDD approach combines the non collocated control with a delayed deflection at the point being used for non collocation feedback. The fastest decay in the end point vibrations was obtained when the delay time is selected to be half the period of the lowest frequency in the system. The CTDD has been extended to the case of a two link flexible manipulator. Simulations results for the tracking performance of the two link flexible manipulator have been carried out using two paths: A straight line path and a four points path. The advantages of using the CTDD approach are outlined by comparing its performance to those of a collocated control (computed torque method) and the non collocated control.
Author: Bruno Siciliano
Publisher: Springer Science & Business Media
ISBN: 1461544319
Category : Technology & Engineering
Languages : en
Pages : 154
Get Book Here
Book Description
One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 1572
Get Book Here
Book Description
Author: Shiping Liu
Publisher: John Wiley & Sons
ISBN: 1119422485
Category : Technology & Engineering
Languages : en
Pages : 266
Get Book Here
Book Description
A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.
Author:
Publisher:
ISBN:
Category : Mechanics, Applied
Languages : en
Pages : 400
Get Book Here
Book Description
