In this paper, a discrete model is adopted, as proposed by Hencky for elastica based on rigid bars and lumped rotational springs, to design the control of a lightweight planar manipulator with multiple highly flexible links. This model is particularly suited to deal with nonlinear equations of motion as those associated with multilink robot arms, because it does not include any simplification due to linearization, as in the assumed modes method. The aim of the control is to track a trajectory of the end effector of the robot arm, without the onset of vibrations. To this end, an energy-based method is proposed. Numerical simulations show the effectiveness of the presented approach.

Energy-based trajectory tracking and vibration control for multilink highly flexible manipulators / Giorgio, I.; Del Vescovo, D.. - In: MATHEMATICS AND MECHANICS OF COMPLEX SYSTEMS. - ISSN 2326-7186. - 7:2(2019), pp. 159-174. [10.2140/memocs.2019.7.159]

Energy-based trajectory tracking and vibration control for multilink highly flexible manipulators

Giorgio I.
Primo
Membro del Collaboration Group
;
Del Vescovo D.
Secondo
Membro del Collaboration Group
2019

Abstract

In this paper, a discrete model is adopted, as proposed by Hencky for elastica based on rigid bars and lumped rotational springs, to design the control of a lightweight planar manipulator with multiple highly flexible links. This model is particularly suited to deal with nonlinear equations of motion as those associated with multilink robot arms, because it does not include any simplification due to linearization, as in the assumed modes method. The aim of the control is to track a trajectory of the end effector of the robot arm, without the onset of vibrations. To this end, an energy-based method is proposed. Numerical simulations show the effectiveness of the presented approach.
discrete modeling; energy-based control; flexible robot arms; nonlinear elastica
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Energy-based trajectory tracking and vibration control for multilink highly flexible manipulators / Giorgio, I.; Del Vescovo, D.. - In: MATHEMATICS AND MECHANICS OF COMPLEX SYSTEMS. - ISSN 2326-7186. - 7:2(2019), pp. 159-174. [10.2140/memocs.2019.7.159]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1316451
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