Analysis of Parametric Influence on Control of a Two-Link Flexible Manipulator Incorporating a Payload

被引:0
作者
Kumar, Pravesh [1 ]
Pratiher, Barun [1 ]
机构
[1] Indian Inst Technol Jodhpur, Dept Mech Engn, Jodhpur, Rajasthan, India
来源
MACHINES, MECHANISM AND ROBOTICS, INACOMM 2019 | 2022年
关键词
Flexible manipulator; Euler-Bernoulli beam; Dynamic modeling; PD controller; Trajectory tracking; VIBRATION;
D O I
10.1007/978-981-16-0550-5_121
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
The control problem for the trajectory tracking of a flexible two-link manipulator incorporating a payload described by a nonlinear model is addressed in the present work. The influence of parametric variation of system attributes on the design of PD inversion-based nonlinear control of a two-link manipulator has been demonstrated. The kinetic energy expression for the system is obtained by using the position vector in generalized coordinate system. The Euler-Lagrange's approach in conjunction with the assumed mode method is utilized to obtain the dynamic model of the system composed of four nonlinear ordinary differential equations which are simulated, and the results have been graphically illustrated. The effect of system parameters such as payload mass, joint mass, system inertia, and physical and geometric properties of the links are explored by comparing the simulation outcomes. Moreover, the presented results exhibit that the system parameters have a significant effect on the input-output characteristics and should be accounted for while designing such systems.
引用
收藏
页码:1277 / 1288
页数:12
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