Modeling and Control of Flexible Manipulators.
نویسندگان
چکیده
منابع مشابه
On Modeling and Control of Flexible Manipulators
Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot perfor...
متن کاملModeling and Control of Flexible Manipulators
Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and product quality. Other reasons for using industrial robots are cost saving, and elimination of hazardous and unpleasant work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot ...
متن کاملModeling and Control of Two Manipulators Handling a Flexible Beam
This paper seeks to develop simple yet practical and efficient control scheme that enables cooperating arms to handle a flexible beam. Specifically the problem studied herein is that of two arms rigidly grasping a flexible beam and such capable of generating forces/moments in such away as to move a flexible beam along a predefined trajectory. The paper develops a sliding mode control law that p...
متن کاملRepresentation Learning for Modeling and Control of Flexible Manipulators
Traditional rigid serial manipulators have a natural representation associated with them – namely the angles of all the joints in the robot arm. A complete framework that is built around this representation allows engineers to write down simple kinematic and dynamic equations for the robot. These equations enable robust control of rigid robot arms. In contrast, for flexible manipulators such as...
متن کاملCONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY
A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1994
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.12.172