Approaches for dynamic modelling of flexible manipulator systems

Author

Martins, J.M. ; Mohamed, Z. ; Tokhi, M.O. ; Da Costa, J. Sá ; Botto, M.A.

Author_Institution

Dept. of Mech. Eng., Tech. Univ. of Lisbon, Portugal

Volume

150

Issue

4

fYear

2003

fDate

7/24/2003 12:00:00 AM

Firstpage

401

Lastpage

411

Abstract

An investigation into the dynamic modelling of flexible manipulator systems with different mechanical structures and actuation mechanisms is presented. Dynamic models of the systems are developed based on the assumed modes method considering linear displacements, quadratic displacements and the finite element method. Simulation and experimental exercises are performed with bang-bang torque and smooth displacement driven manoeuvres. To investigate the effects of centrifugal forces, slow and fast trajectories are implemented. Simulation and experimental results of the response of the flexible manipulators are presented in the time and frequency domains. Moreover, model validations are carried out by comparing the results to assess the performance of the modelling approaches.

Keywords

bang-bang control; eigenvalues and eigenfunctions; finite element analysis; flexible manipulators; modelling; actuation mechanisms; bang-bang torque; centrifugal forces; dynamic modelling; finite element method; flexible manipulator systems; frequency domains; linear displacements; quadratic displacements; smooth displacement driven manoeuvres; time domains;

fLanguage

English

Journal_Title

Control Theory and Applications, IEE Proceedings -

Publisher

iet

ISSN

1350-2379

Type

jour

DOI

10.1049/ip-cta:20030496

Filename

1232628