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3 edition of Experimental verification of a model of a two-link flexible, lightweight manipulator found in the catalog.

Experimental verification of a model of a two-link flexible, lightweight manipulator

Experimental verification of a model of a two-link flexible, lightweight manipulator

a thesis presented to the Faculty of Divison of Graduate Studies

  • 191 Want to read
  • 7 Currently reading

Published by Georgia Institute of Technology, National Aeronautics and Space Administration, National Technical Information Service, distributor in [Atlanta, Ga.], [Washington, DC, Springfield, Va .
Written in English

    Subjects:
  • Equations of motion.,
  • Finite element method.,
  • Flexibility.,
  • Linkages.,
  • Manipulators.,
  • Mathematical models.,
  • Robotics.

  • Edition Notes

    Statementby James David Huggins.
    SeriesNASA contractor report -- NASA CR-183216.
    ContributionsUnited States. National Aeronautics and Space Administration.
    The Physical Object
    FormatMicroform
    Pagination1 v.
    ID Numbers
    Open LibraryOL18077564M

    stiffness of a two-link flexible robot manipulator (TFRM). Lagrange dynamics differential equations of TFRM were established using integrated modal method and multi-body system dynamics method. On that basis the dynamic deformation model, dynamic stress model and reliability model of dynamic strength and dynamic stiffness were established.   We present a kinematic analysis and computer simulation of a two-link mobile manipulator model. Mobility of the manipulator is achieved by an undercarriage. Its work space is defined by the upper part consisting of two rotationally connected arms attached to the carriage by a rotational bonding. The model is created and the simulation is carried out in MSC : Hroncová Darina, Miková Ľubica.

    This new book discusses the very latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches, numerical modelling/simulation techniques and more. In this paper, the dynamic model of a two-link rigid-flexible manipulator was established by using the theory of Lagrange equation. Due to the model is a distributed-parameter system, we present a simple, efficient method for model reduction based on spectral approximation method such that a model-based scheme can be implemented. The method was illustrated by comparing with Cited by: 2.

    This paper presents an investigation into the dynamic modelling and characterisation of a two-link flexible robot manipulator incorporating a payload. A planar two-link flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered. A dynamic model of the system is developed using. Title: Modelling And Experimental Vibration Control Of A Two-link Three-dimensional Manipulator With Flexible Links Created Date: 11/28/ AM.


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Experimental verification of a model of a two-link flexible, lightweight manipulator Download PDF EPUB FB2

Experimental verification of a model of a two-link flexible, lightweight manipulator a thesis presented to the Faculty of Divison of Graduate Studies (SuDoc NAS ) [James David Huggins] on *FREE* shipping on qualifying offers.

The objective of this thesis is to present experimental verification of an assumed modes model of a large, two link, flexible manipulator that has been designed and constructed in the School of Mechanical Engineering at Georgia Institute of Technology.

The structure was designed to have typical characteristics • of a lightweight manipulator. Get this from a library. Experimental verification of a model of a two-link flexible, lightweight manipulator: a thesis presented to the Faculty of Division of Graduate Studies.

[James David Huggins; United States. National Aeronautics and Space Administration.]. Experimental results on a two-link flexible manipulator with adaptive nonlinear control and preshaping are provided to show the effectiveness of the advocated controllers.

This paper explores the selection of component mode shapes to be used in models for two-link flexible manipulators. The theoretical natural frequencies and system mode shapes predicted by these models are compared to those of the experimental Stanford Multi-Link Flexible by: The latest experimental platform is the flexible joint macro/mini manipulator.

Key Technologies. Use of end-point sensing in a feedback control system; Techniques for modelling of complex flexible structures; On-line adaptive techniques. Experimental Platforms.

A single-link very flexible manipulator has been used for many different experiments. The paper is organized as follows: Section 2 de­scribes briefly the mathematical modeling of a two-link very flexible manipulator. In Section 3, the unknown parameters of the obtained model are determined experimentally, while simulation results are presented in Section by: 2.

This banner text can have markup. web; books; video; audio; software; images; Toggle navigation. Milford, R. I., and Asokanthan, S. Configuration dependent eigenfrequencies for a two-link flexible manipulator experimental verification. Journal of Sound and Vibration – CrossRef Google ScholarAuthor: Carmelo di Castri, Arcangelo Messina.

A planar two-link flexible manipulator in contact with a compliant surface is considered, and simulation studies demonstrating the performance of. James Huggins, Spring"Experimental Verification of a Model of a Two-Link Flexible, Lightweight Manipulator.

Doug Paul, March"Parallel Microcomputer Control of a 3 D.O.F. Robotic Arm." Klaus Obergfell, August"A Vision-Based End-Point Control for a Two-Link Flexible Manipulator.". Investigations into the dynamic characterisation of a two-link flexible robot manipulator incorporating structural damping, hub inertia and payload have been presented.

A closed-form finite dimensional dynamic model of a planar two-link flexible manipulator has been developed using the Euler-Lagrange approach combined with the AMM. In a two-link flexible manipulator, trajectory tracking control is a multi input multi output problem.

The natural characteristic of the linked materials determine the elastic deformation of each link. If the desired angle θ d in is selected as time varying function then it is called the joint angle trajectory tracking by:   The scope of this review article is particularly on two-link flexible manipulators, relevant models presented for closed-loop applications, and model-based control.

Recent and historical contributions in the modelling and control of Cited by: The actuators are taken as first order phase-lag model and approximated by input multiplicative uncertainty. The variables pertin and pertout (input and output to G. man) have four elements, and the variables control, dist, e.

p, e. and y. have two element each. Fig. Open loop interconnection of two link rigid manipulator. In this work, we study the modeling and identification of a two-link manipulator with mechanical flexibility distributed along the links.

The experimental apparatus is a two-link flexible manipulator driven by two brushless DC motors and monitored by tachometers, strain gauges, and accelerometers. Equations of Motion for an Experimental Planar Two-Link Flexible Manipulator.

Home» Publications» Equations of Motion for an Experimental Planar Two-Link Flexible Manipulator. Title {Equations of Motion for an Experimental Planar Two. Magee, D.P. and W.J. Book, "Experimental Verification of Modified Command Shaping Using a Flexible Manipulator," Proceedings of the First International Conference on Motion and Vibration Control, Yokohama, Japan, September 7‑11,pp‑ of a two-link flexible robot manipulator.

However, the complexity of the modelling increases dramatically as compared to the case of a single-link flexible manipulator. Yang and Sadler [9] have developed the FE model to describe the deflection of a planar two-link flexible robot manipulator. A dynamic model has been developed using the.

This paper presents experimental investigations into the applications of feedforward control schemes for vibration control of a flexible manipulator system.

Feedforward control schemes based on input shaping and filtering techniques are to be examined. A c. Flexible link manipulator setup 8 Flexible links 9 Sensors 9 Linear Current Amplifier 10 Cables 10 External power supply Interfacing with MATLAB and Simulink 12 .The long length, light weight, low frequency, flexible joint and link of large space manipulators impact dynamic stability and position accuracy seriously.

In this paper, dynamical model of space flexible manipulators system is build base on Lagrange method. With three DOF manipulators as the research object, the impact of flexible link, joint stiffness and clearance on the system Cited by: 1.FLEXIBLE MANIPULATOR In the present work an attempt has been made to model a six link flexible planar manipulator with joint flexibility in simmechanics environment.

The basic structure of the manipulator system has been shown in Figure 1. Here, the model includes six links serially connected rigid links.