DocumentCode :
2887875
Title :
Research on Modeling and Dynamics of Flexible Manipulators
Author :
Tu, Li ; Hu, Jia-xiu ; Zhou, Pi-xuan
Author_Institution :
Dept. of Mech. Eng., Zhejiang Mech. & Electr. Coll., Hangzhou
fYear :
2006
fDate :
13-16 Aug. 2006
Firstpage :
840
Lastpage :
845
Abstract :
Flexible manipulators are distributed systems described by partial-differential equations; therefore their dynamic behavior is of infinite degrees of freedom. From the perspective of control theory, it is impossible to design an infinite dimensional controller. The controlled plant must have a finite dimension thereby requiring less significant terms in the model to be omitted. This causes model uncertainties since those terms generally are time-variable, and system dependent. The boundary conditions set by tip-load, hub inertia, friction, rotatory inertia, and shear force also impact beam dynamics, which make the model implementation more complicated for the purpose of real-time control. A pick-and-place manipulator-like system is considered. The model derivation proceeds step-by-step from calculation of energies through to a dynamic equation and constraints. The representative, formulae are given. An extensive analysis of the resonant frequencies and modal shapes for the governing equations are developed. The modal frequencies and coefficients of modal shape are presented to verify the dynamics and model
Keywords :
control system synthesis; flexible manipulators; manipulator dynamics; modal analysis; partial differential equations; time-varying systems; beam dynamics; boundary condition; control theory; distributed system; dynamic equation; flexible manipulator dynamics; flexible manipulator modeling; infinite dimensional controller design; modal frequency analysis; modal shape analysis; model derivation; model uncertainty; partial-differential equation; pick-and-place manipulator-like system; real-time control; resonant frequency analysis; time-variable system; Boundary conditions; Control theory; Cybernetics; Educational institutions; Equations; Frequency; Industrial engineering; Machine learning; Manipulator dynamics; Mechanical engineering; Power engineering and energy; Shape; Dynamics; Flexible manipulator; Model; Tip-load;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Machine Learning and Cybernetics, 2006 International Conference on
Conference_Location :
Dalian, China
Print_ISBN :
1-4244-0061-9
Type :
conf
DOI :
10.1109/ICMLC.2006.258482
Filename :
4028179
Link To Document :
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