The problem of the trajectory-tracking and vibration control of highly flexible planar multi-links robot arms is investigated. We discretize the links according to the Hencky bar-chain model, which is an application of the lumped parameters techniques. In this approach, each link is considered as a kinematic chain of rigid bodies, and suitable springs are added in order to model bending resistance. The control strategy employed is based on an optimal input pre-shaping and a feedback of the joint angles to treat the effects of undesired disturbances. Some numerical examples are given to show the potentialities of the proposed control, and a comparison with a standard collocated Proportional-Derivative (PD) control strategy is performed. In particular, we study the cases of a linear and a parabolic trajectory with a polynomial time law chosen to minimize the onset of possible vibrations.
Non-linear lumped-parameter modeling of planar multi-link manipulators with highly flexible arms
2018-01-01
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Dynamic Analysis of Planar Cooperative Manipulators With Link Flexibility
Online Contents | 2004
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