Control Design for 3D Flexible Link Mechanisms Using Linearized Models

  • Erfan Shojaei Barjuei
  • Paolo Boscariol
  • Alessandro Gasparetto
  • Marco Giovagnoni
  • Renato Vidoni
Conference paper
First Online:
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 22)

Abstract

This paper presents an approach to the optimal control of a spatial flexible mechanism. A highly accurate dynamic model of the system is briefly resumed. Then, in order to be able to employ the classical optimal control theory, a linearization of the model with consideration of gravity force is done. After that the chosen optimal control is described, and the most important results of the simulation are presented and discussed.

Keywords

Flexible links mechanisms Dynamic model Spatial mechanism Control 
This is a preview of subscription content, log in to check access.

References

  1. 1.
    Benosman, M., Boyer, F., Le Vey, G., Primault, D.: Flexible links manipulators: from modelling to control. J. Intell. Robot. Syst. 34(4), 381–414 (2002)CrossRefMATHGoogle Scholar
  2. 2.
    Boscariol, P., Gasparetto, A., Zanotto, V.: Vibration reduction in a flexible link mechanism trough the synthesis of an MPC controller. Mechatronics (2009) ICM 2009. IEEE International Conference on IEEE (2009)Google Scholar
  3. 3.
    Boscariol, P., Gasparetto, A., Zanotto, V.: Active position and vibration control of a flexible links mechanisms using model-based predictive control. J. Dyn Syst Meas Control 132(1), 014506-1–014506-4 (2010)Google Scholar
  4. 4.
    Boscariol, P., Zanotto, V.: Design of a controller for trajectory tracking for compliant mechanisms with effective vibration suppression. Robotica 30(1), 15–29 (2012)CrossRefGoogle Scholar
  5. 5.
    Boscariol, P. Gasparetto, A. Giovagnoni, M., Moosavi A.K., Vidoni R.: On the modeling of flexible-link robots: First experimental validation of an ERLS-FEM dynamic model. Mechatronics (ICM), International Conference on IEEE, pp. 298–302 (2013)Google Scholar
  6. 6.
    Caracciolo, R., Richiedei, D., Trevisani, A., Zanotto, V.: Robust mixed-norm position and vibration control of flexible link mechanisms. Mechatronics 15(7), 767–791 (2005)CrossRefGoogle Scholar
  7. 7.
    Dwivedy, S.K., Eberhard, P.: Dynamic analysis of flexible manipulators, a literature review. Mech. Mach. Theory 41(7), 749–777 (2006)CrossRefMATHMathSciNetGoogle Scholar
  8. 8.
    Ge, S.S., Lee, T.H., Zhu, G.: A nonlinear feedback controller for a single-link flexible manipulator based on a finite element model. J. Robot. Syst. 14(3), 165–178 (1997)CrossRefMATHGoogle Scholar
  9. 9.
    Giovagnoni, M.: A numerical and experimental analysis of a chain of flexible bodies. J. Dyn. Syst. Meas. Control 116(1), 73–80 (1994)CrossRefMATHGoogle Scholar
  10. 10.
    Huang, An-Chyau, Yuan-Chih Chen: Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties. Control Systems Technology, IEEE Transactions on 12.5, 770–775 (2004)Google Scholar
  11. 11.
    Kalra, P., Sharan, A.M.: Accurate modelling of flexible manipulators using finite element analysis. Mech. Mach. Theory 26(3), 299–313 (1991)CrossRefGoogle Scholar
  12. 12.
    Kirk, D.E.: Optimal Control Theory: An Introduction. Courier Dover Publications, New York (2012)Google Scholar
  13. 13.
    Martins, J.M., Mohamed, Z., Tokhi, M.O., Sa da Costa, J., Botto, M.A.: Approaches for dynamic modelling of flexible manipulator systems. IEE Proc Control Theory Appl 150(4), 401–411 (2003)CrossRefGoogle Scholar
  14. 14.
    Naganathan, G., Soni, A.H.: Nonlinear modeling of kinematic and flexibility effects in manipulator design. J. Mech. Trans. Autom. Des. 110(3), 243–254 (1988)CrossRefGoogle Scholar
  15. 15.
    Nagarajan, S., Turcic, D.A.: Lagrangian formulation of the equations of motion for elastic mechanisms with mutual dependence between rigid body and elastic motions: Part I—element level equations. J. Dyn. Syst. Meas. Control 112(2), 203–214 (1990)CrossRefGoogle Scholar
  16. 16.
    Shabana, A.: Flexible multibody dynamics: Review of past and recent developments. Multibody Syst. Dyn. 1(2), 189–222 (1997)CrossRefMATHMathSciNetGoogle Scholar
  17. 17.
    Shabana, A. A.: Dynamics of Multibody Systems. Cambridge University Press, Cambridge (2005)Google Scholar
  18. 18.
    Tokhi, O., Azad, A.K.M.: Flexible robot manipulators: Modelling, simulation and control. Inst. Eng. Technol. 1–20 (2008)Google Scholar
  19. 19.
    Vidoni, R., Gasparetto, A., Giovagnoni, M.: A method for modeling of three-dimensional flexible mechanisms based on an equivalent rigid-link system. J. Vibr. Control (2012)Google Scholar
  20. 20.
    Vidoni, R., Gasparetto, A., Giovagnoni, M.: Design and implementation of an ERLS-based 3-D dynamic formulation for flexible-link robots. Robot. Comput. Integr. Manuf. 29(2), 273–282 (2013)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Erfan Shojaei Barjuei
    • 1
  • Paolo Boscariol
    • 1
  • Alessandro Gasparetto
    • 1
  • Marco Giovagnoni
    • 1
  • Renato Vidoni
    • 2
  1. 1.DIEGMUniversity of UdineUdineItaly
  2. 2.Faculty of Science and TechnologyUniversity of BolzanoBolzanoItaly

Personalised recommendations