Flexible Robot Manipulators Modelling, simulation and control

The ever increasing utilisation of robotic manipulators for various applications in recent years has been motivated by the requirements and demands of industrial automation. Among these, attention is focused more towards flexible manipulators, due to various advantages they offer compared to their r...

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Bibliographic Details
Main Authors Tokhi, M.O, Azad, A.K.M
Format eBook Book
LanguageEnglish
Published Stevenage The Institution of Engineering and Technology 2008
Institution of Engineering and Technology
Institution of Engineering and Technology (The IET)
Institution of Engineering & Technology
Edition1
SeriesControl engineering series v.68
Subjects
Automatic control
Automatic control engineering
Control systems
Design and construction
Electronics
Electronics & Semiconductors
Manipulators (Mechanism)
Manipulators (Mechanism) > Automatic control
Properties & Testing
Robots
Robots > Control systems
Robots, Industrial
Robots, Industrial > Design and construction
TECHNOLOGY & ENGINEERING
three-term control
manipulators
finite difference methods
position control
finite element analysis
force control
neural nets
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Table of Contents:
  • Chapter 1: Flexible manipulators - an overview -- Chapter 2: Modelling of a single-link flexible manipulator system: Theoretical and practical investigations -- Chapter 3: Classical mechanics approach of modelling multi-link flexible manipulators -- Chapter 4: Parametric and non-parametric modelling of flexible manipulators -- Chapter 5: Finite difference and finite element simulation of flexible manipulators -- Chapter 6: Dynamic characterisation of flexible manipulators using symbolic manipulation -- Chapter 7: Flexible space manipulators: Modelling, simulation, ground validation and space operation -- Chapter 8: Open-loop control of flexible manipulators using command-generation techniques -- Chapter 9: Control of flexible manipulators with input shaping techniques -- Chapter 10: Enhanced PID-type classical control of flexible manipulators -- Chapter 11: Force and position control of flexible manipulators -- Chapter 12: Collocated and non-collocated control of flexible manipulators -- Chapter 13: Decoupling control of flexible manipulators -- Chapter 14: Modelling and control of space manipulators with flexible links -- Chapter 15: Soft computing approaches for control of a flexible manipulator -- Chapter 16: Modelling and control of smart material flexible manipulators -- Chapter 17: Modelling and control of rigid–flexible manipulators -- Chapter 18: Analysis and design environment for flexible manipulators -- Chapter 19: SCEFMAS - An environment for simulation and control of flexible manipulator systems
  • Flexible robot manipulators: modelling, simulation and control -- Contents -- Preface -- Contributors -- Abbreviations -- Notations -- Chapter 1 Flexible manipulators-an overview -- Chapter 2 Modelling of a single-link flexible manipulator system: Theoretical and practical investigations -- Chapter 3 Classical mechanics approach of modelling multi-link flexible manipulators -- Chapter 4 Parametric and non-parametric modelling of flexible manipulators -- Chapter 5 Finite difference and finite element simulation of flexible manipulators -- Chapter 6 Dynamic characterisation of flexible manipulators using symbolic manipulation -- Chapter 7 Flexible space manipulators: Modelling, simulation, ground validation and space operation -- Chapter 8 Open-loop control of flexible manipulators using command-generation techniques -- Chapter 9 Control of flexible manipulators with input shaping techniques -- Chapter 10 Enhanced PID-type classical control of flexible manipulators -- Chapter 11 Force and position control of flexible manipulators -- Chapter 12 Collocated and non-collocated control of flexible manipulators -- Chapter 13 Decoupling control of flexible manipulators -- Chapter 14 Modelling and control of space manipulators with flexible links -- Chapter 15 Soft computing approaches for control of a flexible manipulator -- Chapter 16 Modelling and control of smart material flexible manipulators -- Chapter 17 Modelling and control of rigid-flexible manipulators -- Chapter 18 Analysis and design environment for flexible manipulators -- Chapter 19 SCEFMAS-An environment for simulation and control of flexible manipulator systems -- References -- Index
  • Title Page Abbreviations Notations Preface Table of Contents 1. Flexible Manipulators - An Overview 2. Modelling of a Single-Link Flexible Manipulator System: Theoretical and Practical Investigations 3. Classical Mechanics Approach of Modelling Multi-Link Flexible Manipulators 4. Parametric and Non-Parametric Modelling of Flexible Manipulators 5. Finite Difference and Finite Element Simulation of Flexible Manipulators 6. Dynamic Characterisation of Flexible Manipulators Using Symbolic Manipulation 7. Flexible Space Manipulators: Modelling, Simulation, Ground Validation and Space Operation 8. Open-Loop Control of Flexible Manipulators Using Command-Generation Techniques 9. Control of Flexible Manipulators with Input Shaping Techniques 10. Enhanced PID-Type Classical Control of Flexible Manipulators 11. Force and Position Control of Flexible Manipulators 12. Collocated and Non-Collocated Control of Flexible Manipulators 13. Decoupling Control of Flexible Manipulators 14. Modelling and Control of Space Manipulators with Flexible Links 15. Soft Computing Approaches for Control of a Flexible Manipulator 16. Modelling and Control of Smart Material Flexible Manipulators 17. Modelling and Control of Rigid-Flexible Manipulators 18. Analysis and Design Environment for Flexible Manipulators 19. SCEFMAS - An Environment for Simulation and Control of Flexible Manipulator Systems References Index
  • 8.2 Identification of natural frequencies -- 8.2.1 Analytical approach -- 8.2.2 Experimental approach -- 8.2.3 Genetic modelling -- 8.2.4 Neural modelling -- 8.2.5 Natural frequencies from the genetic and neural modelling -- 8.3 Gaussian shaped torque input -- 8.4 Shaped torque input -- 8.5 Filtered torque input -- 8.6 Experimentation and results -- 8.6.1 Unshaped bang-bang torque input -- 8.6.2 Shaped torque input -- 8.6.3 Gaussian shaped input -- 8.6.4 Filtered input torque -- 8.6.5 System with payload -- 8.7 Comparative performance assessment -- 8.8 Summary -- 9 Control of flexible manipulators with input shaping techniques -- 9.1 Introduction -- 9.2 Command generation -- 9.2.1 Gantry crane example -- 9.2.2 Generating zero vibration commands -- 9.2.3 Using ZV impulse sequences to generate ZV commands -- 9.2.4 Robustness to modelling errors -- 9.2.5 Multi-mode input shaping -- 9.2.6 Real-time implementation -- 9.2.7 Trajectory following -- 9.2.8 Applications -- 9.3 Feedforward control action -- 9.3.1 Feedforward control of a simple system with time delay -- 9.3.2 Zero phase error tracking control -- 9.4 ZPETC as command shaping -- 9.5 Summary -- 10 Enhanced PID-type classical control of flexible manipulators -- 10.1 Introduction -- 10.2 Single-input single-output PI-PD -- 10.2.1 Basic algorithm -- 10.2.2 Discrete-time algorithm -- 10.3 Multi-input multi-output PI-PD -- 10.3.1 Basic notations -- 10.3.2 Decoupling algorithm -- 10.3.2.1 Strategy A -- 10.3.2.2 Strategy B -- 10.3.2.3 Strategy C -- 10.4 Experimental set-up -- 10.5 Simulation and experimental results -- 10.6 Summary -- 11 Force and position control of flexible manipulators -- 11.1 Introduction -- 11.2 Modelling -- 11.3 Indirect force and position regulation -- 11.3.1 First stage -- 11.3.2 Second stage -- 11.3.3 Simulation -- 11.4 Direct force and position control
  • 11.4.1 Composite control strategy -- 11.4.2 Force and position regulation -- 11.4.3 Force regulation and position tracking -- 11.4.4 Simulation -- 11.5 Summary -- 12 Collocated and non-collocated control of flexible manipulators -- 12.1 Introduction -- 12.2 JBC control -- 12.2.1 Simulation results -- 12.2.2 Experimental results -- 12.3 Collocated and non-collocated feedback control involving PD and PID -- 12.3.1 Simulation results -- 12.4 Adaptive JBC control -- 12.4.1 Simulation results -- 12.4.2 Experimental results -- 12.5 Adaptive collocated and non-collocated control -- 12.5.1 Simulation results -- 12.5.2 Experimental results -- 12.6 Collocated and non-collocated feedback control with PD and neuro-inverse model -- 12.6.1 Simulation results -- 12.7 Summary -- 13 Decoupling control of flexible manipulators -- 13.1 Introduction -- 13.2 Multivariable control basics -- 13.3 Modelling a flexible link -- 13.3.1 Rigid-flexible robot case -- 13.3.2 Modelling the 2D flexible robot -- 13.4 Pre-compensator design -- 13.4.1 Rigid-flexible robot case -- 13.4.1.1 Column dominance for the rigidŒflexible robot -- 13.4.1.2 Column dominance for rigidŒflexible robot workspace -- 13.4.2 2D flexible robot case -- 13.4.2.1 Design of the decoupling filter for the 2D flexible robot -- 13.5 Jacobian control of a 1D flexible manipulator -- 13.5.1 Jacobian control -- 13.5.2 Control results -- 13.6 Summary -- 14 Modelling and control of space manipulators with flexible links -- 14.1 Introduction -- 14.2 Model of flexible manipulators -- 14.3 VRM concept -- 14.3.1 Definition of VRM -- 14.3.2 Kinematic relations of RFM and VRM -- 14.4 PD-control -- 14.4.1 PD-control for joint variables -- 14.4.2 Stability of linearised system -- 14.4.3 Stability of original non-linear system -- 14.5 Control using VRM concept -- 14.5.1 Control methods using the VRM concept
  • 14.5.2 Asymptotic stability of positioning control
  • 3.5.3 Dynamics of a rigid-flexible-rigid body -- 3.5.4 Dynamics of a serial multi-RFR body system -- 3.6 Summary -- 4 Parametric and non-parametric modelling of flexible manipulators -- 4.1 Introduction -- 4.2 Parametric identification techniques -- 4.2.1 LMS algorithm -- 4.2.2 RLS algorithm -- 4.2.3 Genetic algorithms -- 4.3 Non-parametric identification techniques -- 4.3.1 Multi-layered perceptron neural networks -- 4.3.2 Radial basis function neural networks -- 4.4 Model validation -- 4.5 Data pre-processing -- 4.6 Experimentation and results -- 4.6.1 Parametric modelling -- 4.6.2 Non-parametric modelling -- 4.6.2.1 Modelling with MLP NN -- 4.6.2.2 Modelling with RBF NN -- 4.7 Comparative assessment -- 4.8 Summary -- 5 Finite difference and finite element simulation of flexible manipulators -- 5.1 Introduction -- 5.2 The flexible manipulator system -- 5.3 The FD method -- 5.3.1 Development of the simulation algorithm -- 5.3.2 The hub displacement -- 5.3.3 The end-point displacement -- 5.3.4 Matrix formulation -- 5.3.5 State-space formulation -- 5.4 The FE/Lagrangian method -- 5.4.1 Elemental matrices -- 5.4.1.1 Scalar energy functions -- 5.4.2 A single-link flexible manipulator -- 5.4.3 A two-link flexible manipulator -- 5.4.3.1 Boundary conditions, payload and damping -- 5.5 Validation of the FD and FE/Lagrangian methods -- 5.5.1 The experimental manipulator system -- 5.5.2 Simulation and experiments -- 5.6 Summary -- 6 Dynamic characterisation of flexible manipulators using symbolic manipulation -- 6.1 Introduction -- 6.2 FE approach to symbolic modelling -- 6.2.1 The flexible manipulator -- 6.2.2 Dynamic equation of motion -- 6.2.3 Transfer functions -- 6.2.4 Analysis -- 6.2.4.1 System without payload and hub inertia -- 6.2.4.2 System with payload -- 6.2.5 Validation and performance analysis
  • Intro -- Contents -- Preface -- List of contributors -- List of abbreviations -- List of notations -- 1 Flexible manipulators - an overview -- 1.1 Introduction -- 1.2 Modelling and simulation techniques -- 1.3 Control techniques -- 1.3.1 Passive control -- 1.3.2 Open-loop control -- 1.3.3 Closed-loop control -- 1.3.4 Artificial intelligence control -- 1.4 Flexible manipulator systems -- 1.4.1 Typical FMSs -- 1.4.2 Flexible manipulators for industrial applications -- 1.4.3 Multi-link flexible manipulators -- 1.4.4 Two-link flexible manipulators -- 1.4.5 Single-link flexible manipulators -- 1.5 Applications -- 1.6 Summary -- 2 Modelling of a single-link flexible manipulator system: Theoretical and practical investigations -- 2.1 Introduction -- 2.2 Dynamic equations of the system -- 2.2.1 The flexible manipulator system -- 2.2.2 Energies associated with the system -- 2.2.3 The dynamic equations of motion -- 2.3 Mode shapes -- 2.4 State-space model -- 2.5 Transfer function model -- 2.6 Experimentation -- 2.6.1 Natural frequencies -- 2.6.2 Damping ratios -- 2.6.3 Modal gain -- 2.7 Model validation -- 2.8 Summary -- 3 Classical mechanics approach of modelling multi-link flexible manipulators -- 3.1 Introduction -- 3.2 Kinematics: the reference frames -- 3.2.1 Deformation assumptions -- 3.2.2 Kinematics of a flexible link -- 3.3 The strain-displacement relations -- 3.3.1 Parameterisation of the rotation matrix -- 3.3.2 Parameterisation of the neutral axis tangent vector -- 3.3.3 Displacement of the neutral axis -- 3.4 The dynamic model of a single flexible link -- 3.4.1 The inertial force term -- 3.4.2 The elastic force term -- 3.4.3 The gravitational force term -- 3.4.4 The external force term -- 3.4.5 Rayleigh-Ritz discretisation -- 3.5 The dynamic model of a multi-link manipulator -- 3.5.1 Joint kinematics -- 3.5.2 Dynamics of a rigid body
  • 6.3 Infinite-dimensional transfer functions using symbolic methods -- 6.3.1 Piezoelectric laminate electromechanical relationships -- 6.3.2 Dynamic modelling -- 6.3.3 Transfer functions -- 6.3.4 Rational Laplace domain transfer functions -- 6.3.5 Experimental system -- 6.3.6 Experimental results -- 6.4 Summary -- 7 Flexible space manipulators: Modelling, simulation, ground validation and space operation -- 7.1 Introduction -- 7.2 Symofros -- 7.2.1 Overview -- 7.2.2 Software architecture -- 7.2.3 Flexible beam modelling: a combined FE and assumed-modes approach -- 7.3 Experimental validation -- 7.3.1 Experimental model validation using a single flexible link -- 7.3.1.1 Experimental set-up -- 7.3.1.2 Simulation results -- 7.3.2 Flexible manipulator end-point detection and validation -- 7.3.2.1 Flexible manipulator kinematics -- 7.3.2.2 Statics -- 7.3.2.3 End-point detection using strain gauges -- 7.4 SPDM task verification facility -- 7.4.1 Background -- 7.4.2 SPDM task verification facility concept -- 7.4.3 SPDM task verification facility test-bed -- 7.4.3.1 The SPDM task verification facility test-bed simulator -- 7.4.3.2 The SPDM task verification facility test-bed robot and robot controller -- 7.4.3.3 Computer architecture -- 7.4.3.4 ORUs and worksite -- 7.4.4 Experimental contact parameter estimation using STVF -- 7.4.4.1 Description of the simulation environment -- 7.4.4.2 Experiments, simulations and results -- 7.5 On-orbit MSS training simulator -- 7.5.1 On-orbit training and simulation -- 7.5.2 Hardware architecture -- 7.5.3 Software architecture -- 7.5.4 Simulation validation -- 7.5.5 Symofros simulator engine -- 7.5.6 Analysis module -- 7.5.7 Ground and on-orbit results -- 7.6 Summary -- 7.7 Acknowledgements -- 8 Open-loop control of flexible manipulators using command-generation techniques -- 8.1 Introduction