• 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.

• 한국생산제조학회지
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• 제19권4호
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• pp.449-454
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• 2010

The force control of a constrained flexible manipulators has been one of the major research topics. However, a little effort has been devoted for the relation between friction force and elastic deflection of end-effector for a constrained flexible manipulator. So, the aim of this paper is to clarify the friction mechanism of a constrained spatial multi-link flexible manipulator by changing the material and connected method of end-effector. In this study, a concise hybrid position/force control scheme is applied to the control of a flexible manipulator, and the experimental results for the constrained vertical motion and constrained horizontal motion is presented. Finally a comparison between these results are presented to show the reduction of vibration of link and friction force.

• 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.

• 융합신호처리학회논문지
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• 제3권1호
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• pp.61-66
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• 2002

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used for the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and the second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined parallel fuzzy controller. The effectiveness of proposed scheme is demonstrated through computer simulation.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.722-725
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• 1996

This paper presents a new control strategy for the position and force control of a flexible manipulator. The governing equation of motion of a two-link flexible manipulator which features a piezoceramic actuator is derived via Hamilton's principle. The control torque of the motor to command desired position and force is determined by a sliding mode controller. This controller is formulated to take account of parameter uncertainties and external disturbances. During the commanded motion, undesirable oscillation is actively suppressed by applying a feedback control voltage to the piezoceramic actuator. Consequently, an accurate compliant motion control of the flexible manipulator is achieved. Computer simulations are undertaken in order to demonstrate the effectiveness of the proposed control methodology.

• Advances in robotics research
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• 제1권2호
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• pp.141-154
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• 2014

Redundant parallel manipulators have some advantages over the nonredundant parallel manipulators. It is important to determine how many additional branches should be introduced. This paper studies whether one or two additional branches should be added to a 3-DOF parallel manipulator by comparing the flexible deformation of a 3-DOF parallel manipulator with one additional branch and that with two additional branches. The kinematic and dynamic models of the redundant parallel manipulator are derived and the flexible deformation is investigated. The flexible deformation of the manipulators with one additional branch and two branches is simulated and compared. This paper is helpful for designers to design a redundantly actuated parallel manipulator.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.405-408
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• 1996

Several papers have already been reported on the flexible manipulator with constant arm length. Some of industrial manipulators, however, have sliding joints. It means that the length of their arm or link varies with time. This paper discusses the trajectory contro lof such a manipulator model, and shows some of the experimental results.

• 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.