The dynamics for multi-link spatial flexible manipulator arms consisting of n links and n rotary joints is investigated. Kinematics of both rotary-joint motion and link deformation is described by 4 - 4 homogenous tra...The dynamics for multi-link spatial flexible manipulator arms consisting of n links and n rotary joints is investigated. Kinematics of both rotary-joint motion and link deformation is described by 4 - 4 homogenous transformation matrices, and the Lagrangian equations are used to derive the governing equations of motion of the system. In the modeling the recursive strategy for kinematics is adopted to improve the computational efficiency. Both the bending and torsional flexibility of the link are taken into account. Based on the present method a general-purpose software package for dynamic simulation is developed. Dynamic simulation of a spatial flexible manipulator arm is given as an example to validate the algorithm.展开更多
The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of e...The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching deformation, bending deformation and the torsional deformation are included. The complete governing equations of motion of the system are derived via the Lagrange equations. The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling, and thus the dynamic stiffening effects are captured. Based on this model, a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed. Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.展开更多
To control the robot and track the designed trajectory with uncertain disturbances in a specified precision range, an adaptive fuzzy control scheme for the robot arm manipulator is discussed. The controller output err...To control the robot and track the designed trajectory with uncertain disturbances in a specified precision range, an adaptive fuzzy control scheme for the robot arm manipulator is discussed. The controller output error method （COEM） is used to design the adaptive fuzzy controller. A few or all of the parameters of the controller are adjusted by using the gradient descent algorithm to minimize the output error. COEM is adopted in the adaptive control system for the robot arm manipulator with 5-DOF. Simulation results show the effectiveness of the method and the real time adjustment of the parameters.展开更多
基金supported by the National Natural Science Foundation of China (No. 10772085)the Natural Science Foundation of Jiangsu Province (No. BK2007205)+1 种基金the Young Scholar Foundation of Nanjing University of Science and Technology (No. NJUST200504)the Qing Lan Project of Jiangsu Province
文摘The dynamics for multi-link spatial flexible manipulator arms consisting of n links and n rotary joints is investigated. Kinematics of both rotary-joint motion and link deformation is described by 4 - 4 homogenous transformation matrices, and the Lagrangian equations are used to derive the governing equations of motion of the system. In the modeling the recursive strategy for kinematics is adopted to improve the computational efficiency. Both the bending and torsional flexibility of the link are taken into account. Based on the present method a general-purpose software package for dynamic simulation is developed. Dynamic simulation of a spatial flexible manipulator arm is given as an example to validate the algorithm.
基金supported by the National Natural Science Foundations of China (10772085,11272155 and 11132007)333 Project of Jiangsu Province,China(BRA2011172)NUST Research Funding,China(2011YBXM32)
文摘The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching deformation, bending deformation and the torsional deformation are included. The complete governing equations of motion of the system are derived via the Lagrange equations. The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling, and thus the dynamic stiffening effects are captured. Based on this model, a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed. Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.
文摘To control the robot and track the designed trajectory with uncertain disturbances in a specified precision range, an adaptive fuzzy control scheme for the robot arm manipulator is discussed. The controller output error method （COEM） is used to design the adaptive fuzzy controller. A few or all of the parameters of the controller are adjusted by using the gradient descent algorithm to minimize the output error. COEM is adopted in the adaptive control system for the robot arm manipulator with 5-DOF. Simulation results show the effectiveness of the method and the real time adjustment of the parameters.
