𝔖 Bobbio Scriptorium
✦   LIBER   ✦

CONTROL OF A TWO-LINK RIGID–FLEXIBLE MANIPULATOR WITH A MOVING PAYLOAD MASS

✍ Scribed by S. CHOURA; A.S. YIGIT

Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
313 KB
Volume
243
Category
Article
ISSN
0022-460X

No coin nor oath required. For personal study only.

✦ Synopsis

Control of a two-link rigid}#exible manipulator carrying a moving payload mass is considered. The stability of the system when the payload mass is moving along the #exible link during the time of maneuver is investigated. A candidate Lyapunov function is constructed and its time rate of change is examined. It is shown that the use of an independent PD-type controller yields a convergence of residual vibration to zero, an attainment of the rigid-body rotations to their prespeci"ed desired angles of maneuver, and an axial guidance of the payload mass. It is shown that allowing the relative motion of the payload mass, as it moves along the #exible link, leads to a considerable reduction of its residual vibrations as compared with the case when it is "xed to the link tip during the time of maneuver. The performance of the proposed controller is also veri"ed in case the links and the payload mass are required to track prespeci"ed reference trajectories.

📜 SIMILAR VOLUMES

The Effect Of Flexibility On The Impact
The Effect Of Flexibility On The Impact Response Of A Two-Link Rigid-Flexible Manipulator
✍ A.S. Yigit 📂 Article 📅 1994 🏛 Elsevier Science 🌐 English ⚖ 360 KB

The impact response of a two-link rigid-flexible manipulator is studied. A spring-dashpot model, which is based on the Hertzian contact law and non-linear damping, is used for impact modelling. Simulations have shown that the flexibility reduces the severity of the impact. The same impact conditions

VIBRATION CONTROL OF A FOUR-BAR MECHANIS
VIBRATION CONTROL OF A FOUR-BAR MECHANISM WITH A FLEXIBLE COUPLER LINK
✍ M. Karkoub; A.S. Yigit 📂 Article 📅 1999 🏛 Elsevier Science 🌐 English ⚖ 232 KB

Dynamic modelling and controller design for a ¯exible four-bar mechanism is studied. The fully coupled non-linear equations of motion are obtained through a constrained Lagrangian approach. Resulting dierential-algebraic equations are solved numerically to obtain the system response. A linearized dy

DYNAMIC MODELLING OF A NON-LINEARLY CONS
DYNAMIC MODELLING OF A NON-LINEARLY CONSTRAINED FLEXIBLE MANIPULATOR WITH A TIP MASS BY HAMILTON'S PRINCIPLE
✍ R.-F Fung; H.-C. Chang 📂 Article 📅 1998 🏛 Elsevier Science 🌐 English ⚖ 299 KB

In this paper, the equations of motion for a non-linearly constrained flexible manipulator with a tip mass are derived by using Hamilton's principle. Dynamic formulation is based on expressing the kinetic and potential energies of the manipulator system in terms of generalized co-ordinates. Four dyn

DYNAMICS OF A TWO-LINK FLEXIBLE SYSTEM U
DYNAMICS OF A TWO-LINK FLEXIBLE SYSTEM UNDERGOING LOCKING: MATHEMATICAL MODELLING AND COMPARISON WITH EXPERIMENTS
✍ B.P. Nagaraj; B.S. Nataraju; A. Ghosal 📂 Article 📅 1997 🏛 Elsevier Science 🌐 English ⚖ 311 KB

Space structures such as the solar panels or antenna, when deployed in space, have large dimensions, low mass to size ratio, large inertias and relatively low structural rigidity. Due to space restrictions, these structures are originally in stowed configurations and are deployed into their full siz

The influence of rigid or flexible linka
The influence of rigid or flexible linkage between two ligands on the effective affinity and avidity for reversible interactions with bivalent receptors
✍ S. A. Bobrovnik 📂 Article 📅 2007 🏛 John Wiley and Sons 🌐 English ⚖ 221 KB

## Abstract Bivalent or polyvalent cooperative binding between ligand and receptor is much tighter and more efficient than monovalent binding of the same counterparts. Because of this, many biological processes involve polyvalent binding for realization of regulatory mechanisms. For this reason it