Dynamic Modeling of Tow Flexible Link Manipulators
Modeling and vibration of a flexible link manipulator
with tow flexible links and rigid joints are investigated which can
include an arbitrary number of flexible links. Hamilton principle and
finite element approach is proposed to model the dynamics of
flexible manipulators. The links are assumed to be deflection due to
bending. The association between elastic displacements of links is
investigated, took into account the coupling effects of elastic motion
and rigid motion. Flexible links are treated as Euler-Bernoulli beams
and the shear deformation is thus abandoned. The dynamic behavior
due to flexibility of links is well demonstrated through numerical
simulation. The rigid-body motion and elastic deformations are
separated by linearizing the equations of motion around the rigid
body reference path. Simulation results are shown on for both
position and force trajectory tracking tasks in the presence of varying
parameters and unknown dynamics remarkably well. The proposed
method can be used in both dynamic simulation and controller
design.
[1] Yazdizadeh, A. & Khorasani, K. & Patel, R V. (2000). Identification of a
two-link flexible manipulator using adaptive time delay neural networks:
IEEE Trans. Syst., Man, Cybern. B, vol. 30, pp. 165-172.
[2] Su, Z. & Khorasani, K. (2001). A neural-network-based controller for a
single-link flexible manipulator using the inverse dynamics approach:
IEEE Trans. Ind. Electron., vol. 48, pp. 1074-1086, Apr.
[3] Martins, J M. & Mohamed, Z. & Tokhi, M O. & Costa, J. & Botto, M A.
(2000). Approaches for dynamic modeling of flexible manipulator
systems: Inst. Elec. Eng. Proc. Contr. Theory and Applications, vol. 150,
no. 4, pp. 401-411.
[4] Yang, H. & Krishman, H. & Ang Jr, M H. (2000). Tip-trajectory
tracking control of single-link flexible robots by output redefinition: Inst.
Elec. Eng. Proc. Contr. Theory Applicat., vol. 147, no. 6, pp. 580-587.
[5] Du, Zhaocai. & Yu, Yueqing. (2008). Dynamic Modeling and Inverse
Dynamic Analysis of Flexible Parallel Robots: International Journal of
Advanced Robotic Systems, Vol. 5, no. 1, ISSN 1729-8806, pp. 115-
122.
[6] Ata, A. A. & Johar, H. (2004). Dynamic simulation of task constrained
of a rigid-flexible manipulator: International Journal of Advanced
Robotic Systems, Vol. 1, no. 2, ISSN 1729-8806, pp. 61 - 66.
[7] Tian, L. & Wang, J. & Mao, Z. (2004). Constrained Motion Control of
Flexible Robot Manipulators Based on Recurrent Neural Networks:
IEEE Transactions on systems, man, and cybernetics- part B:
cybernetics, Vol. 34, no. 3.
[8] Book, W J. (1984). Recursive lagrangian dynamics of flexible
manipulator arms: International Journal of Robotics Research, 3:87┬▒101.
[9] Erdman, A G. & Sandor, G N. & Oakberg, R G. (1972). A general
method for Kineto-Elastodynamic analysis and synthesis of mechanisms:
ASME Journal of Engineering for Industry, 94:1193┬▒205.
[10] Book, W J. (1990). Modeling, design, and control of flexible
manipulator arms: A tutorial review, Proceedings of the 29th IEEE
Conference on Decision and Control, IEEE Control Systems Society,
pp.500-506, ISBN: 90CH2917-3.
[11] Santosha, K D. & Peter, E. (2006). Dynamic analysis of flexible
manipulators, a literature review. Mechanism and Machine Theory,
Vol.41, pp.749-777, ISSN: 0094-114X
[12] Kim, Hyoung-Kyu. Choi, Seung-Bok. & Thompson Brian S. (2000).
Compliant control of two-link flexible manipulator featuring
piezoelectric actuators: Mechanism and Machines Theory 36, 411-424.
[13] Ho, Cheol Shin. & Seung, Bok Choi. (2001). Position control of a two
link flexible manipulator featuring piezoelectric actuators and sensors:
Mechatronics 11, 707-729.
[14] Trigolo, Kuga, De Souza. (2003). Parameter Identification of a Rigid
Flexible Satellite Using Kalman Filter: Proceedings, COBEM,
November 10-14, Sao Paulo
[15] Turcic, D A. & Midha, A. (1984). Generalized equations of motion for
the dynamic analysis of elastic mechanism systems: ASME Journal of
Dynamic Systems, Measurements, and Control, 106:243┬▒8.
[1] Yazdizadeh, A. & Khorasani, K. & Patel, R V. (2000). Identification of a
two-link flexible manipulator using adaptive time delay neural networks:
IEEE Trans. Syst., Man, Cybern. B, vol. 30, pp. 165-172.
[2] Su, Z. & Khorasani, K. (2001). A neural-network-based controller for a
single-link flexible manipulator using the inverse dynamics approach:
IEEE Trans. Ind. Electron., vol. 48, pp. 1074-1086, Apr.
[3] Martins, J M. & Mohamed, Z. & Tokhi, M O. & Costa, J. & Botto, M A.
(2000). Approaches for dynamic modeling of flexible manipulator
systems: Inst. Elec. Eng. Proc. Contr. Theory and Applications, vol. 150,
no. 4, pp. 401-411.
[4] Yang, H. & Krishman, H. & Ang Jr, M H. (2000). Tip-trajectory
tracking control of single-link flexible robots by output redefinition: Inst.
Elec. Eng. Proc. Contr. Theory Applicat., vol. 147, no. 6, pp. 580-587.
[5] Du, Zhaocai. & Yu, Yueqing. (2008). Dynamic Modeling and Inverse
Dynamic Analysis of Flexible Parallel Robots: International Journal of
Advanced Robotic Systems, Vol. 5, no. 1, ISSN 1729-8806, pp. 115-
122.
[6] Ata, A. A. & Johar, H. (2004). Dynamic simulation of task constrained
of a rigid-flexible manipulator: International Journal of Advanced
Robotic Systems, Vol. 1, no. 2, ISSN 1729-8806, pp. 61 - 66.
[7] Tian, L. & Wang, J. & Mao, Z. (2004). Constrained Motion Control of
Flexible Robot Manipulators Based on Recurrent Neural Networks:
IEEE Transactions on systems, man, and cybernetics- part B:
cybernetics, Vol. 34, no. 3.
[8] Book, W J. (1984). Recursive lagrangian dynamics of flexible
manipulator arms: International Journal of Robotics Research, 3:87┬▒101.
[9] Erdman, A G. & Sandor, G N. & Oakberg, R G. (1972). A general
method for Kineto-Elastodynamic analysis and synthesis of mechanisms:
ASME Journal of Engineering for Industry, 94:1193┬▒205.
[10] Book, W J. (1990). Modeling, design, and control of flexible
manipulator arms: A tutorial review, Proceedings of the 29th IEEE
Conference on Decision and Control, IEEE Control Systems Society,
pp.500-506, ISBN: 90CH2917-3.
[11] Santosha, K D. & Peter, E. (2006). Dynamic analysis of flexible
manipulators, a literature review. Mechanism and Machine Theory,
Vol.41, pp.749-777, ISSN: 0094-114X
[12] Kim, Hyoung-Kyu. Choi, Seung-Bok. & Thompson Brian S. (2000).
Compliant control of two-link flexible manipulator featuring
piezoelectric actuators: Mechanism and Machines Theory 36, 411-424.
[13] Ho, Cheol Shin. & Seung, Bok Choi. (2001). Position control of a two
link flexible manipulator featuring piezoelectric actuators and sensors:
Mechatronics 11, 707-729.
[14] Trigolo, Kuga, De Souza. (2003). Parameter Identification of a Rigid
Flexible Satellite Using Kalman Filter: Proceedings, COBEM,
November 10-14, Sao Paulo
[15] Turcic, D A. & Midha, A. (1984). Generalized equations of motion for
the dynamic analysis of elastic mechanism systems: ASME Journal of
Dynamic Systems, Measurements, and Control, 106:243┬▒8.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:57918", author = "E. Abedi and A. Ahmadi Nadooshan and S. Salehi", title = "Dynamic Modeling of Tow Flexible Link Manipulators", abstract = "Modeling and vibration of a flexible link manipulator
with tow flexible links and rigid joints are investigated which can
include an arbitrary number of flexible links. Hamilton principle and
finite element approach is proposed to model the dynamics of
flexible manipulators. The links are assumed to be deflection due to
bending. The association between elastic displacements of links is
investigated, took into account the coupling effects of elastic motion
and rigid motion. Flexible links are treated as Euler-Bernoulli beams
and the shear deformation is thus abandoned. The dynamic behavior
due to flexibility of links is well demonstrated through numerical
simulation. The rigid-body motion and elastic deformations are
separated by linearizing the equations of motion around the rigid
body reference path. Simulation results are shown on for both
position and force trajectory tracking tasks in the presence of varying
parameters and unknown dynamics remarkably well. The proposed
method can be used in both dynamic simulation and controller
design.", keywords = "Flexible manipulator, flexible link, dynamicmodeling, end point.", volume = "2", number = "10", pages = "1162-7", }
