On the Properties of a Dynamic Model of Flexible Robot Manipulators

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

[1]  Alessandro De Luca,et al.  Closed-form dynamic model of planar multilink lightweight robots , 1991, IEEE Trans. Syst. Man Cybern..

[2]  W. Book.  Recursive Lagrangian Dynamics of Flexible Manipulator Arms , 1984 .

[3]  Alessandro De Luca,et al.  Inversion-Based Nonlinear Control of Robot Arms with Flexible Links , 1993 .

[4]  Takeo Kanade,et al.  Parameter identification of robot dynamics , 1985, 1985 24th IEEE Conference on Decision and Control.

[5]  Wayne J. Book,et al.  Dynamics of Flexible Manipulator Arms: Alternative Derivation, Verification, and Characteristics for Control , 1993 .

[6]  Alessandro De Luca,et al.  Regulation of flexible arms under gravity , 1993, IEEE Trans. Robotics Autom..

[7]  Carlos Canudas de Wit,et al.  Computed Torque Control via a Nonlinear Observer , 1990 .

[8]  S. Nicosia,et al.  Robot control by using only joint position measurements , 1990 .

[9]  W. Book.  Analysis of massless elastic chains with servo controlled joints , 1979 .

[10]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[11]  van de Mjg René Molengraft,et al.  Adaptive Computed Reference Computed Torque Control of Flexible Robots , 1995 .

[12]  Carlos Canudas de Wit,et al.  Theory of Robot Control , 1996 .

[13]  Yu Tang,et al.  Adaptive control of robot manipulators based on passivity , 1994 .

[14]  Ian Postlethwaite,et al.  A Simple Robust Control Scheme for Robot Manipulators With Only Joint Position Measurements , 1993, Int. J. Robotics Res..

[15]  L. Meirovitch.  Analytical Methods in Vibrations , 1967 .