Download or read book Nonlinear Control for Two Link Flexible Manipulator written by Mohamed Ibrahim Shalaby and published by . This book was released on 2017 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: Recently the use of robot manipulators has been increasing in many applications such as medical applications, automobile, construction, manufacturing, military, space, etc. However, current rigid manipulators have high inertia and use actuators with large energy consumption. Moreover, rigid manipulators are slow and have low payload-to arm-mass ratios because link deformation is not allowed. The main advantages of flexible manipulators over rigid manipulators are light in weight, higher speed of operation, larger workspace, smaller actuator, lower energy consumption and lower cost. However, there is no adequate closed-form solutions exist for flexible manipulators. This is mainly because flexible dynamics are modeled with partial differential equations, which give rise to infinite dimensional dynamical systems that are, in general, not possible to represent exactly or efficiently on a computer which makes modeling a challenging task. In addition, if flexibility nature wasn’t considered, there will be calculation errors in the calculated torque requirement for the motors and in the calculated position of the end-effecter. As for the control task, it is considered as a complex task since flexible manipulators are non-minimum phase system, under-actuated system and Multi-Input/Multi-Output (MIMO) nonlinear system. This thesis focuses on the development of dynamic formulation model and three control techniques aiming to achieve accurate position control and improving dynamic stability for Two-Link Flexible Manipulators (TLFMs). LQR controller is designed based on the linearized model of the TLFM; however, it is applied on both linearized and nonlinear models. In addition to LQR, Backstepping and Sliding mode controllers are designed as nonlinear control approaches and applied on both the nonlinear model of the TLFM and the physical system. The three developed control techniques are tested through simulation based on the developed dynamic formulation model using MATLAB/SIMULINK. Stability and performance analysis were conducted and tuned to obtain the best results. Then, the performance and stability results obtained through simulation are compared. Finally, the developed control techniques were implemented and analyzed on the 2-DOF Serial Flexible Link Robot experimental system from Quanser and the results are illustrated and compared with that obtained through simulation.
Download or read book Robust Control Algorithms for Two link Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Download or read book Advanced Studies of Flexible Robotic Manipulators written by Fei-Yue Wang and published by World Scientific. This book was released on 2003 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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
Download or read book Nonlinear Control of Rigid link Flexible joint Robot Manipulators written by Michael Murphy Bridges and published by . This book was released on 1994 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Control of Flexible link Manipulators Using Nonlinear H infinity Techniques written by Mohammad J. Yazdanpanah and published by . This book was released on 1997 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Theory of Robot Control written by Carlos Canudas de Wit and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: A study of the latest research results in the theory of robot control, structured so as to echo the gradual development of robot control over the last fifteen years. In three major parts, the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. Most of the results on rigid robot manipulators in part I are now well established, while for flexible manipulators in part II, some problems still remain unresolved. Part III deals with the control of mobile robots, a challenging area for future research. The whole is rounded off with an appendix reviewing basic definitions and the mathematical background for control theory. The particular combination of topics makes this an invaluable source of information for both graduate students and researchers.
Download or read book Robust Control Algorithms for Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Download or read book Control of Flexible link Manipulators Using Neural Networks written by H.A. Talebi and published by Springer Science & Business Media. This book was released on 2001-01-29 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of Flexible-link Manipulators Using Neural Networks addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links. The non-minimum phase characteristic, coupling effects, nonlinearities, parameter variations and unmodeled dynamics in such a manipulator all contribute to these difficulties. Control strategies that ignore these uncertainties and nonlinearities generally fail to provide satisfactory closed-loop performance. This monograph develops and experimentally evaluates several intelligent (neural network based) control techniques to address the problem of controlling the end-point of flexible-link manipulators in the presence of all the aforementioned difficulties. To highlight the main issues, a very flexible-link manipulator whose hub exhibits a considerable amount of friction is considered for the experimental work. Four different neural network schemes are proposed and implemented on the experimental test-bed. The neural networks are trained and employed as online controllers.
Download or read book Experiments in High performance Nonlinear and Adaptive Control of a Two link Flexible drive train Manipulator written by Christopher Richard Uhlik and published by . This book was released on 1990 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Design of Dynamic Nonlinear Control Techniques for Flexible link Manipulators written by Victor Gavriloiu and published by . This book was released on 2005 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, we develop robust dynamical controllers for addressing the problems of tracking and regulation of both rigid-link and flexible-link manipulators. The design of the dynamical controller is based on construction of a two-time scale dynamical motion of the closed-loop system. Furthermore, other conventional control methods such as the PD control, computed torque, and localization methods are investigated for comparison purposes. The main control objective is to achieve stability of the closed-loop system while ensuring boundedness of all the control signals as well as sufficiently small tip-position tracking requirement. In order to achieve a minimum phase behaviour for utilizing output feedback control strategy, a new redefined output is proposed. Instead of using the joint angles as outputs in the rigid-link case, a new output is chosen for the flexible-link case which will provide and guarantee stability of the closed-loop flexible system. Simulations results are provided for both the rigid-link and flexible-link manipulators using the proposed control strategies. A comparative analysis is also included to demonstrate and illustrate the advantages and disadvantages of the considered control methodologies.
Download or read book Control and Design of Flexible link Manipulators written by Concordia University and published by 1996.. This book was released on 1996 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Experiments in Modelling and End point Control of Two link Flexible Manipulators written by Celia Marie Oakley and published by . This book was released on 1991 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nonlinear Control of Rigid link Flexible joint Robotic Manipulators with Harmonic Drive Transmissions Using Integrator Backstepping written by Hyun Min Peck and published by . This book was released on 1996 with total page 370 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control of Nonlinear Discrete time Systems and Its Application to Control of a Flexible link Manipulator written by Mohammad Reza Rokui and published by . This book was released on 1997 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objectives of this research work are to develop direct and indirect adaptive control strategies for discrete-time nonlinear systems and to investigate the applicability of the proposed schemes to adaptive tracking control of a flexible-link manipulator. The first problem considered is indirect adaptive control of a fully as well as a partially input-output feedback linearizable n th order affine SISO nonlinear system represented in the state-space form. The objective is to make the output y (k) track a reference trajectory y m (k) despite the fact that the parameters of the system are unknown. Towards this end, a local diffeomorphism for the change of coordinates and a nonlinear feedback control law are obtained so that the nonlinear system is rendered input to output equivalent into a linear system. The resulting linear system is then used to solve the output tracking control problem using conventional linear control theory. A multi-output recursive-least-square (RLS) algorithm is employed to identify the unknown parameters. Using the Lyapunov technique it is shown that provided the zero dynamics is exponentially stable the adaptively controlled closed-loop system is stable. The second problem addressed is the direct adaptive tracking control problem of a class of SIS 0 discrete-time nonlinear systems represented in the input-output form. To solve the problem, the state-space model is first derived and the appropriate control input is obtained. By employing the projection algorithm as a parameter estimator, the closed-loop stability of the adaptively controlled system is addressed using Lyapunov technique. As an application, the indirect adaptive control strategy is employed to control a single link flexible manipulator. Towards this end, the discrete-time model of the manipulator and its zero dynamics are derived first. By using the output re-definition technique, the adaptive input-output linearization scheme is then applied. The regressor form of the link's dynamic equations is also developed for the multi-output RLS identification algorithm. The performance of the adaptively controlled closed-loop system is investigated through numerical simulations to show the advantages and the main features of the proposed strategy. Finally to evaluate the performance of the proposed controller, an experimental test-bed of a single-link flexible manipulator is used for implementation. The real-time controller and estimator are implemented on a TMS system board which uses a TMS320C30 Digital Signal Processing (DSP) chip. The actual results are then compared with the simulation results to verify and validate the theoretical findings.
Download or read book Nonlinear Strain displacement Relations in the Dynamics of a Two link Flexible Manipulator written by Carlos E. Padilla and published by . This book was released on 1989 with total page 104 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Modal Analysis and Control of Flexible Manipulator Arms written by Octavio Maizza Neto and published by . This book was released on 1974 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Mathematical Methods for Robust and Nonlinear Control written by Matthew C. Turner and published by Springer Science & Business Media. This book was released on 2007-10-23 with total page 444 pages. Available in PDF, EPUB and Kindle. Book excerpt: The underlying theory on which much modern robust and nonlinear control is based can be difficult to grasp. This volume is a collection of lecture notes presented by experts in advanced control engineering. The book is designed to provide a better grounding in the theory underlying several important areas of control. It is hoped the book will help the reader to apply otherwise abstruse ideas of nonlinear control in a variety of real systems.
