Skip to main content
SpringerLink
Log in

Motion control of the flexible manipulator via controllable local degrees of freedom

  • Original Paper
  • Published:
Nonlinear Dynamics Aims and scope Submit manuscript

Abstract

In order to improve motion accuracy of the flexible manipulator, an idea of using its topological characteristics to suppress vibration is suggested. The concept of controllable local degree of freedom is proposed and introduced to the topological structure of the flexible manipulator. It is shown that the arbitrary motion provided by the controllable local degrees of freedom plays an important role in eliminating undesired effects of the flexibility. On this basis, a method for reducing motion error of the flexible manipulator is put forward. By planning the motion of controllable local degrees of freedom, the appropriate control force can be constructed to increase the damping force and eliminate the exciting force of the flexible manipulator, thereby improving the end-effector accuracy. The results, demonstrated by the numerical simulations, are highly promising and suggest that controllable local degrees of freedom can be a useful tool in combating the undesired vibration deformation of the flexible manipulator.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Wang, F.Y., Russel, J.Y.: Minimum weight robot arm for a specified fundamental frequency. J. Robot. Syst. 13(1), 157–161 (1997)

    Google Scholar 

  2. Cui, L.L., Xiao, Z.Q.: Optimum structure design of flexible manipulators based on GA. In: Proceedings of IEEE International Conference on Intelligent Transportation Systems, vol. 2, pp. 1622–1626 (2003)

  3. Kumar, R., Dwivedy, S.K., Dixit, U.S.: Shape optimization of a flexible robot manipulator, In: Proceedings of National Conference on Industrial Problems in Machines and Mechanisms (IPROMM-05), IIT Kharagpur, India (2005)

  4. Benosman, M., Vey, G.L.: Control of flexible manipulators: a survey. Robotica 22, 533–545 (2004)

    Article  Google Scholar 

  5. Dwivedy, S.K., Eberhard, P.: Dynamic analysis of flexible manipulators, a literature review. Mech. Mach. Theory 41(7), 749–777 (2006)

    Article  MATH  MathSciNet  Google Scholar 

  6. Choi, S.B., Cho, S.S., Sin, H.C., Kim, H.K.: Quantitative feedback theory control of a single-link flexible manipulator featuring piezoelectric actuator and sensor. Smart Mater. Struct. 8, 338–349 (1999)

    Article  Google Scholar 

  7. Ge, S.S., Lee, T.H., Gong, J.Q., Wang, Z.P.: Model-free controller design for a single-link flexible smart materials robots. Int. J. Control 73(6), 531–544 (2000)

    Article  MATH  MathSciNet  Google Scholar 

  8. Sun, D., Mills, J.K., Shan, J., Tso, S.K.: A PZT actuator control of a single-link flexible manipulator based on linear velocity feedback and actuator placement. Mechatronics 14, 381–401 (2004)

    Article  Google Scholar 

  9. Krishnamurthy, K., Chandrashekhara, K., Roy, S.: A study of single-link robots fabricated from orthotropic composite materials. Comput. Struct. 136(1), 139–146 (1990)

    Article  Google Scholar 

  10. Saravanos, D.A., Lamancusa, J.S.: Optimal structural design of robotic manipulators with fiber reinforced composite materials. Comput. Struct. 36(1), 119–132 (1990)

    Article  MATH  Google Scholar 

  11. Nechev, D.N.: Redundancy resolution through local optimization: A review. J. Robot. Syst. 6(6), 769–798 (1989)

    Article  Google Scholar 

  12. Siciliano, B.: Kinematic control of redundant robot manipulators: A tutorial. J. Intell. Robot. Syst. 3, 201–212 (1990)

    Article  Google Scholar 

  13. Nguyen, L.A., Walker, I.D., Defigueiredo, R.J.P.: Dynamic control of flexible kinematically redundant robot manipulators. IEEE Trans. Robot. Autom. 8(6), 759–767 (1992)

    Article  Google Scholar 

  14. Yue, S.: Weak-vibration configurations for flexible robot manipulators with kinematic redundancy. Mech. Mach. Theory 35(2), 165–178 (2000)

    Article  MATH  Google Scholar 

  15. Zhang, X., Yu, Y.-Q.: Motion control of flexible robot manipulators via optimizing redundant configurations. Mech. Mach. Theory 36(7), 883–892 (2001)

    Article  MATH  MathSciNet  Google Scholar 

  16. Bian, Y.: Study on joint-torque minimization for the flexible redundant manipulator via its second optimization capability. Acta Aeronaut. Astronaut. Sin. 26(1), 111–115 (2005)

    Google Scholar 

  17. Bian, Y.: Research on dynamics and control of flexible redundant manipulators. Ph.D. Dissertation, Beihang University, Beijing (1998)

Download references

Author information

Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Beihang University, Beijing, 100083, People’s Republic of China

    Yushu Bian, Zhihui Gao & Chao Yun

Authors
  1. Yushu Bian
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhihui Gao
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Chao Yun
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yushu Bian.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Bian, Y., Gao, Z. & Yun, C. Motion control of the flexible manipulator via controllable local degrees of freedom. Nonlinear Dyn 55, 373–384 (2009). https://doi.org/10.1007/s11071-008-9370-2

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11071-008-9370-2

Keywords

Search

Navigation