This planar manipulator is suspended on an air bearing and actuated by direct-current motors at the shoulder and the elbow. On the dynamics and control of flexible joint space manipulators. 1 elaborates th e flexible joint manipulator module developed by Quanser consisting of the static base upon which the rotational platform is implem ented having the flexible joint man.
Model Of Single Link Manipulator With Flexible Joint Download Scientific Diagram
The manipulator is primarily composed of an electric motor an elastic joint a follow-up unit PZT actuators a mounting base for the actuators a flexible link and a tip mass.
The manipulator is driven by the electric motor and the follow-up unit is connected to the rotor of the motor by the elastic joints.
The link is a flexible beam. The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in the construction of manipulator the assumption that.
Under the assumption of weak joint elasticity a singular perturbation argument is used to show that recent adaptive control results for rigid robots can be used to control flexible-joint robots provided a simple correction term is added to the control law to damp out the elastic oscillations at the joints.
The usage of the flexible joint manipulator FJM has been started to replace with rigid body manipulators in the robotics industry such as service space medical and defense because the FJM provides faster movements low manufacturing cost and high weight to payload ratio as well as low energy consumption compared to the rigid-body structures. Flexible joint manipulator driven by BDCM with uncertain parameters. In section 1 the related works were presented. In section 2 a system description was detailed given the different constraints such as the joint flexibility due to the harmonic gear and including motor dynamics.
Section 3 devoted the MIL model of the proposed system.
A new control method is proposed to address these problems achieving the precise motion control of the flexible-joint manipulator. The method consists of three cascaded controllers. An adaptive controller a torque-tracking controller and a motor controller. Many manipulator robots have flexible joint due to the gear elasticity the bearing deformation and the shaft windup etc1415In this study we consider one link ma- nipulator robot with revolute joint actuated by brushless direct current motor.
Modeling and Nonlinear Control of a Single-link Flexible Joint Manipulator Kevin Groves Andrea Serrani Department of Electrical and Computer Engineering The Ohio State University Columbus OH 43210 USA 1 Introduction In this experiment we consider the nonlinear control of a robotic arm with joint exibility.
Flexible manipulators have several benefits over the rigid manipulators such as light weight with higher payload better maneuverability higher operational speed lower energy consumption. Along these advantages however the flexible manipulators cause vibrations and trajectory tracking control problems. An adaptive control scheme is proposed for the manipulator system having two constrained regions which are constructed by selecting appropriate objective functions. The two joints of the flexible-joint manipulator can be respectively confined in different regions and this gives more flexibility than the traditional fixed-point tracking control.
Compared to the conventional heavy and bulky robots flexible link manipulators have the potential advantage of lower cost larger work volume higher operational speed greater payload-to-manipulator-weight ratio smaller actuators lower energy consumption better maneuverability better transportability and safer operation due to reduced inertia.
Flexible mechanisms and flexible joint manipulators are usually used in servicing sector various space station building and maintenance gantry cranes atomic force microscopes medical and defense industriesGenerally flexibility is an undesirable feature in robot manipulators because of causing the significant control problems such as the. The stability of the recurrent neural network observer is shown by Lyapunovs direct method. Simulation results for a flexible-joint manipulator are presented to demonstrate the enhanced performance achieved by utilizing the proposed neural network observer. Flexible joint manipulator driven with a direct-current DC geared mot or.
The nonlinear control schemes ha ve been designed and implemented such that they locally stabilize the closed loop system.
A Experimental setup b 2d3d model of the flexible Joint manipulator. Real Time Control of the Flexible Joint Manipulator 41. Design of the Cascade IT2FL-C Applied cascade IT2FL-C for the control of the flexible joint robot manipulator is depicted in Fig. Manipulators can be found eg.
Actually the control problems of a flexible robot arm can be divided into four principal objectives which are of increasing difficulty.
End-effector position regulation. Rest to rest end-effector motion in fixed time. Trajectory tracking in the joint space tracking of a. The proposed scheme when applied to multi-link robotic manipulators with joint flexibility guarantees a robust performance even if the Coriolis centrifugal joint flexibility and friction terms in the manipulator dynamics are completely unknown.
KW - Flexible joint manipulators.
KW - Robust adaptive control. Active vibration control of Flexible Joint Manipulator using Input Shaping and Adaptive Parameter Auto Disturbance Rejection Controller. Journal of Sound and Vibration Vol.
