• 한국소음진동공학회논문집
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• 제15권2호
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• pp.169-175
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• 2005

In this paper, a novel vibration control scheme for a single-link flexible manipulator system without using a vibration feedback sensor is proposed. In order to achieve the vibration information of the flexible link, a reaction moment estimator based on the dynamic characteristics of the flexible manipulator is proposed. While the manipulator is maneuvering the reaction moment is reciprocally acting on the flexible link and the hub inertia due to the vibration of the link. A sliding mode controller based on the equivalent rigid body dynamics corresponding to the proposed flexible manipulator is then augmented with the reaction moment estimator to realize a decentralized control system. The reaction moment estimator is implemented via the first order low pass filter. The performance of the proposed control scheme is verified by computer simulation and experiment.

• Advances in robotics research
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• 제1권1호
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• pp.61-79
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• 2014

This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods, and simulated using Matlab. Experiments are performed on a lab-scaled two-link flexible manipulator for validation of the dynamic model and characterisation of the system. Two system responses namely hub angular position and deflection responses at both links are obtained and analysed in time and frequency domains. The effects of payload on the dynamic characteristics of the flexible manipulator are also studied and discussed. The results show that a close agreement between simulation and experiments is achieved demonstrating an acceptable accuracy of the developed model.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.511-516
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• 2000

In order to not only perform as a extreme model under the severe operating condition but also acquire more diverse and advanced control capability utilizing high compliance, active vibration control of a flexible 2-link robot manipulator are investigated. Multi variable-structured frequency shaped optimal sliding mode is proposed for the flexible robot manipulator like control system, whose control variables, an angular motion of joint and vibration of flexible link, have to be controlled simultaneously by one control torque at a driving joint. The control system is divided into two subsystems, a control input related subsystem and an added subsystem. The proposed sliding mode, composed of multi control variables, makes optimized relation between subsystems and a individual control input, thus, the sliding mode controller can compensate whole dynamics of each subsystems simultaneously. And the possibility and effectiveness are verified by vibration control of a manipulator having two flexible links. Simulation and experiment results show that the proposed control scheme achieves the purpose effectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.18-23
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• 1990

In this paper, the dynamic modeling and a tip-position controller of a single-link flexible manipulator are developed. To design the controller of a flexible manipulator, at first, it is required to obtain the accurate dynamic model of manipulator describing both rigid motion and flexible vibration. For this purpose, FEM(Finite Element Method) and Lagrange approach are utilized to obtain the dynamic model. After obtaining the dynamic model of a single-link manipulator, a controller which computes the input torque to perform the desired trajectory is developed using neural network.

• 대한기계학회논문집
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• 제19권6호
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• pp.1371-1381
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• 1995

A novel hybrid control scheme to actively control the endpoint position of a very flexible single-link manipulator is proposed. The control scheme consists of a motor mounted at the beam hub and a piezofilm actuator bonded to the surface of the flexible link. The control torque of the motor to produce a desired motion is firstly determined by employing the sliding mode control theory on the equation of motion of the rigid link having the same mass as that of the proposed flexible link. The torque is then applied to the flexible manipulator in order to activate the commanded motion. During the motion, undesirable oscillation is actively suppressed by applying a feedback control voltage to the piezofilm actuator. Consequently, the imposed desired position is accomplished. In order to demonstrate high control performances accrued from the proposed method, computer simulations are undertaken by treating both regulating and tracking control problems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.321-321
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• 2000

This paper presents a sliding mode controller based on variable structure for the tip position control of a single-link flexible manipulator. Dynamic equations of a single-link flexible manipulator are derived from the Euler-Lagrange equation using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. Simulation results are presented to show the validity of the system modeling, controller design.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.113.5-113
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• 2001

In this work, we consider the flexible manipulator system. Generally, the manipulator system may often be made on the base of the imperfect modeling, joint friction, payload change, and external disturbances. These elements are uncertain factors. These uncertainties and flexibility make difficult to control the system. To overcome these defects, a class of robust control law is proposed for the flexible manipulator system and the singular perturbation approach is applied. To show the effectiveness of this control law, simulation is presented for one degree of freedom flexible joint and flexible link system.

• International Journal of Control, Automation, and Systems
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• 제4권3호
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• pp.308-317
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• 2006

To control the tip position of a flexible-link manipulator, a neural network (NN) controller is proposed in this paper. The dynamics error used to construct NN controller is derived based on output redefinition approach. Without the filtered tracking error, the proposed NN controller can still guarantee the closed-loop system uniformly asymptotically stable as well as NN weights bounded. Furthermore, the tracking error of desired trajectory can converge to zero with the proposed controller. For comparison an NN controller with filtered tracking error is also designed for the flexible-link manipulator. Finally, simulation studies are carried out to verify the theoretic results.

• 한국정밀공학회지
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• 제13권11호
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• pp.132-142
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• 1996

This paper presents a technique to model and control a manipulator which has a flexible link and moves in a vertical plane. The flexible link is modeled as an Euler-Bernoulli Beam. Elastic deformation of the flexible link is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. This paper presents a simple technique to improve the correctness of the developed model. The final model including the shortening effect due to elastic deformation correlates very well with experimental results. The free body motion simulation shows that two assumed modes for the representation of the elastic deformation is proper in terms of the model size and correctness. A control algorithm is developed using PID control technique. The proportional, integral and derivative control gains are determined based on dominant pole placement method with a rigid one-link manipulator. A position control simulation shows that the control algorithm can be used to control the position and residual oscillation of the flexible one-link manipulator effectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.599-606
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• 1992

A manipulator system that needs significantly large workspace volume and high payload capacity has greater link flexibility than typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator's end-effector exhibits the nonminimum phase, noncollocated, and flexible structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a flexible manipulator. The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, the inverse dynamic method calculates the feedforward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-Unk flexible manipulator, the effectiveness of the inverse dynamic method has been demonstrated.