Dynamic modelling of a rigid-flexible manipulator for constrained motion task control

DOI10.1016/S0307-904X(98)10096-3MaRDI QIDQ1305553zbMATH OpenFDO

Authors V. Pereyra, Zhixia Shi, Eric H. K. Fung, Yuanchun Li

Publication date 31 May 2001

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/S0307-904X(98)10096-3

zbMATH Keywords

constrained manipulatormultivariable controllerrigid-flexible manipulatorsimultaneous position and force controltrajectory tracking

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Control, switches and devices (``smart materials) in solid mechanics (74M05) Automated systems (robots, etc.) in control theory (93C85)

Review text

The authors derive an exact dynamical model of a constrained manipulator moving in a horizontal plane. Additionally, they introduce and study a multivariable controller for the simultaneous position and force control of manipulator.

Recommendations

• Hybrid Constraint Space Dynamics and Control for Robot Manipulators
• Position and force control of two constrained robotic manipulators
• Dynamic hybrid position/force control of a two degree‐of‐freedom flexible manipulator
• Control of constrained robots including effects of joint flexibility and actuator dynamics

Cites work

• Dynamic hybrid position/force control of a two degree‐of‐freedom flexible manipulator
• Dynamic Modeling of Constrained Flexible Robot Arms for Controller Design
• Feedback stabilization and tracking of constrained robots
• Force and Motion Control of a Constrained Flexible Robot Arm
• Inverse Force and Motion Control of Constrained Elastic Robots
• Optimal hybrid position/force tracking control of a constrained robot

Cited in

(17)

• Recursive modeling and control of multi-link manipulators with vacuum grippers
• Hybrid force and motion control of robots with flexible links
• Rational fraction model for regularized inverse dynamics of a flexible manipulator
• A constrained assumed modes method for dynamics of a flexible planar serial robot with prismatic joints
• Global mode method for dynamic modeling of a flexible-link flexible-joint manipulator with tip mass
• Closed-form control oriented model of highly flexible manipulators
• Contact dynamics and force control of space manipulator systems
• Dynamic model analysis of a pneumatically operated flexible arm
• Inverse dynamic analysis and trajectory planning for flexible manipulator
• Unconstrained and constrained motion control of a planar two‐link structurally flexible robotic manipulator
• Dynamic modeling and adaptive robust boundary control of a flexible robotic arm with 2‐dimensional rigid body rotation
• Hybrid position/force control of a flexible parallel manipulator
• Trajectory and Force Control of a Manipulator with Elastic Links
• Identification of friction and rigid-body dynamics of parallel kinematic structures for model-based control
• Enhanced nonlinear 3D Euler-Bernoulli beam with flying support
• Mathematical modelling and dynamic response of a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint
• Dynamic model of a flying manipulator with two highly flexible links

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