Title :
Dynamic Modeling and Stiffness Coefficient Analysis of a 3-DOF Flexible Joint Space Manipulator
Author :
Guangyan Xu ; Changming Sun
Author_Institution :
Autom. Dept., Shenyang Aerosp. Univ., Shenyang, China
Abstract :
In order to solve the problems of flexible joint space manipulators in dynamics modeling and simulation, a model with three-dimensional four-link flexible-joint manipulators is taken into account. Considering the nonlinear stiffness coefficient of the torsion-spring, and inertia coupling, the dynamics model of flexible-joint manipulators with revolute joints is established by applying the Lagrange method. The correctness of the model is tested and verified by a PD controller with continuous linear feedback loops. Meanwhile, the influence of different values of the flexible joints stiffness coefficient for system stability is taken into analysis and comparison. The results of simulation analysis show that when the stiffness coefficient is small, flexible variable of the joints is big, which is very adverse to the stability of the system. On the contrary, when the stiffness coefficient is bigger, flexible variable of the joints is smaller which is more conducive to control the system.
Keywords :
PD control; continuous systems; flexible manipulators; manipulator dynamics; stability; torsion; trajectory control; 3-DOF flexible joint space manipulator; Lagrange method; PD controller; continuous linear feedback loops; dynamic modeling; inertia coupling; nonlinear stiffness coefficient; stiffness coefficient analysis; system stability; three-dimensional four-link flexible-joint manipulators; torsion-spring; Aerospace electronics; Analytical models; Joints; Manipulator dynamics; Torque; Trajectory; dynamics modeling; flexible-joint; space manipulators; trajectory tracking control;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2013 5th International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-0-7695-5011-4
DOI :
10.1109/IHMSC.2013.188