A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration. A rigid manipulator attached to a flexible but unactuated base was used to study a scheme to achieve positioning of the micromanipulator combined with enhanced vibration damping of the ...

High performance robot manipulators, in terms of cycle time and accuracy, require well designed control methods, based on accurate dynamic models. Robot manipulators are traditionally described by the flexible joint model or the flexible link model. These models only consider elasticity in the rotational direction. When these models are used for control or simulation, the accuracy can be limite...

This paper presents the effects of intermediate location and time-varying end mass on the dynamic response of flexible robot manipulator with rotating-prismatic joint in tracing multi-straight-line path. The tip end of the flexible robot manipulator traces a multi-straight-line path under the action of external driving torque and axial force. Flexible arm which consist of a rotating-prismatic j...

In this article, a nonlinear dynamic model of a flexible manipulator is derived through finite element method associated with Lagrange approach. The flexible manipulator is modeled as an Euler–Bernoulli beam driven by a motor at its base and with a point mass tip payload. The generalized coordinates of the system are selected to be the displacements and rotations of the nodes on the considered ...

This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS), Linear Quadratic Regulator (LQR) and Proportional-Derivative (PD) controller are the techniques used in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flex...

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This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

Sungsoo Rhim School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332 Email: [email protected] NaderSadegh School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332 Email: [email protected] Command shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear ...

As the requirements for robot performance increase, the dynamics of the manipulator become more dominated by flexibility. These flexible effects generate model uncertainty which reduces the end-point positioning accuracy of the manipulator. Residual vibration or tip deflection due to uncertain payloads may contribute to the error in tip position. This paper addresses several control strategies ...