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Dynamics and control of a two-link f...

Stachowsky, Michael.

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Dynamics and control of a two-link flexible manipulator.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Dynamics and control of a two-link flexible manipulator./
作者:	Stachowsky, Michael.
面頁冊數:	156 p.
附註:	Source: Masters Abstracts International, Volume: 49-01, page: 0671.
Contained By:	Masters Abstracts International49-01.
標題:	Engineering, Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR62442
ISBN:	9780494624425

Dynamics and control of a two-link flexible manipulator.
Stachowsky, Michael.

Dynamics and control of a two-link flexible manipulator. - 156 p.

Source: Masters Abstracts International, Volume: 49-01, page: 0671.

Thesis (M.Sc.)--York University (Canada), 2010.

A two-link flexible manipulator was constructed. Dynamic models of a two-link flexible manipulator were constructed using the Finite Element Method (FEM). Trajectories were designed to minimize vibration. Adaptive controllers were implemented, and adaptive friction compensation schemes were studied to reduce steady-state error during trajectory tracking. Efforts in adaptive control culminate in a nonlinearly parameterized adaptive controller that is capable of adapting to the Armstrong-Helouvry friction model. Experimental verification of input shaping methods was undertaken, including an investigation of robust input shaping technology and adaptive input shaping. A novel trajectory was created using input shaping techniques to ensure vibration free movement of the manipulator. Experimental verification of this trajectory shows that vibration is reduced by approximately 97% compared to a simple step input. From the results it is concluded that vibration free motion of a flexible manipulator is possible with simple trajectories, and robustness to frequency modelling error can be assured.

ISBN: 9780494624425Subjects--Topical Terms:

1018454
Engineering, Robotics.

Dynamics and control of a two-link flexible manipulator.
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520 $a A two-link flexible manipulator was constructed. Dynamic models of a two-link flexible manipulator were constructed using the Finite Element Method (FEM). Trajectories were designed to minimize vibration. Adaptive controllers were implemented, and adaptive friction compensation schemes were studied to reduce steady-state error during trajectory tracking. Efforts in adaptive control culminate in a nonlinearly parameterized adaptive controller that is capable of adapting to the Armstrong-Helouvry friction model. Experimental verification of input shaping methods was undertaken, including an investigation of robust input shaping technology and adaptive input shaping. A novel trajectory was created using input shaping techniques to ensure vibration free movement of the manipulator. Experimental verification of this trajectory shows that vibration is reduced by approximately 97% compared to a simple step input. From the results it is concluded that vibration free motion of a flexible manipulator is possible with simple trajectories, and robustness to frequency modelling error can be assured.
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