Control of a single-link flexibe manipulator fabricated form composite laminates

An experimental investigation on the control performances of a single-link flexible manipulator fabricated from composite laminates is presented. The dynamic modeling of the flexible manipulator is accomplished by employing Hamilton's principle, prior to developing a finite element formulation. An output feedback controller associated with two collocated angular position and velocity sensors is designed and experimentally implemented. Comparative works are undertaken to demonstrate some of the advantages to be accrued from this proposed methodology. It is shown that the manipulator fabricated from composite laminates has superior performance characteristics, such as smaller tip deflections and a smaller input torque relative to the manipulator fabricated from aluminum. © 1995 John Wiley & Sons, Inc.

[1]  Bruno Siciliano,et al.  Model reference adaptive control of a link flexible arm , 1986, 1986 25th IEEE Conference on Decision and Control.

[2]  Thomas E. Alberts,et al.  Design strategies for high-speed,lightweight robots , 1986 .

[3]  Sahjendra N. Singh,et al.  Control of Elastic Robotic Systems by Nonlinear Inversion and Modal Damping , 1986 .

[4]  Brian S. Thompson,et al.  The Design of Flexible Robotic Manipulators with Optimal Arm Geometries Fabricated from Composite Laminates with Optimal Material Properties , 1987 .

[5]  Robert D. Adams,et al.  A rational method for obtaining the dynamic mechanical properties of laminae for predicting the stiffness and damping of laminated plates and beams , 1984 .

[6]  Wayne J. Book,et al.  Controller Design for Flexible, Distributed Parameter Mechanical Arms Via Combined State Space and Frequency Domain Techniques , 1983 .

[7]  Seung-Bok Choi,et al.  An experimental investigation of an articulating robotic manipulator with a graphite-epoxy composite arm , 1988, J. Field Robotics.

[8]  C. Sung,et al.  A Variational Formulation for the Dynamic Viscoelastic Finite Element Analysis of Robotic Manipulators Constructed from Composite Materials , 1984 .

[9]  George N. Sandor,et al.  High-Speed Mechanism Design—A General Analytical Approach , 1975 .

[10]  R. H. Cannon,et al.  Initial Experiments on the End-Point Control of a Flexible One-Link Robot , 1984 .

[11]  K. H. Lowl.  A systematic formulation of dynamic equations for robot manipulators with elastic links , 1987, J. Field Robotics.

[12]  W. Wang,et al.  Output feedback control of a flexible robot arm , 1986, 1986 25th IEEE Conference on Decision and Control.

[13]  Eduardo Bayo,et al.  A finite-element approach to control the end-point motion of a single-link flexible robot , 1987, J. Field Robotics.