Vibration Reduction of Open-chain Flexible Manipulators by Optimizing Independent Motions of Branch Links
نویسندگان
چکیده
منابع مشابه
Dynamics of Flexible Manipulators
This paper presents an application of Continuum (i.e. Lagrangian) and Finite Element Techniques to flexible manipulator arms for derivation of the corresponding Dynamic Equations of Motion. Specifically a one-link flexible arm is considered for detailed analysis, and the results are extended for the case of a two - link flexible manipulator. Numerical examples are given for the case of both one...
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Flexible manipulators can be characterized by a dynamic model with a large number of vibration modes, and the use of the model in the model-based control schemes requires reduction of model order. Balanced truncation is an effective method for model reduction of asymptotically stable systems by transforming the states to a coordinate system in which the controllability and observability Gramian...
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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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A Stewart Gough (SG) platform is a parallel manipulator consisting of a moving platform, which is connected via six Spherical-Prismatical-Spherical (SPS) legs with the base. Moreover a SG platform is called planar if the six platform anchor points mi (i = 1, . . . ,6) are located in a plane and if the corresponding base anchor points Mi are coplanar as well (see Fig. 1a). Note that a SG platfor...
متن کاملVibration suppression control of constrained spatial flexible manipulators
For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed succ...
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ژورنال
عنوان ژورنال: Chinese Journal of Aeronautics
سال: 2008
ISSN: 1000-9361
DOI: 10.1016/s1000-9361(08)60011-4