Comparison of various input shaping methods in rest-to-rest motion of the end-effecter of a rigid-flexible robotic system with large deformations capability

•The dynamics of a highly nonlinear system containing a rigid element plus a very flexible link is derived using an accurate formulation which is called Absolute Nodal Coordinates.•The obtained equations of motion is highly stiff. To solve this difficulty, again a sophisticated method which is calle...

Full description

Saved in:
Bibliographic Details
Published in:Mechanical systems and signal processing 2019-03, Vol.118, p.584-602
Main Authors: Ghorbani, Hamid, Alipour, Khalil, Tarvirdizadeh, Bahram, Hadi, Alireza
Format: Article
Language:English
Subjects:
Absolute nodal coordinates
Computer simulation
Control systems design
Deformation
Deformation effects
Differential equations
Extra insensitivity
Input shaping
Mathematical models
Motion control
Negative input shapers
Nonlinear differential equations
Nonlinear equations
Nonlinear systems
Numerical methods
Robot control
Robot dynamics
Robotics
Robots
Robust control
Robustness (mathematics)
Simulation
Time optimality
Very flexible link
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:•The dynamics of a highly nonlinear system containing a rigid element plus a very flexible link is derived using an accurate formulation which is called Absolute Nodal Coordinates.•The obtained equations of motion is highly stiff. To solve this difficulty, again a sophisticated method which is called alpha method is utilized. The obtained dynamics has been verified using the previous published papers.•The main contribution of the paper is comparison of various open-loop control methods which are all input-shaping based for the point-to-point transferring of the considered system’s end-effector. The obtained results conclude which method is the best for such systems in terms of various metrics. Motion control of flexible robots is one of the concerns of the researchers in the field of robotics. When the deflection of the flexible arms increases, considerable complexity is imposed in the problem. In the current study, for the first time, various approaches based on the frequency shaping method will be analyzed in motion control of the very flexible robot, in the point to point paths. To this end, a precise system modeling, based on the Absolute Nodal Coordinates (ANC) method, will be employed to the motion study of the system, containing the rigid and the very flexible parts. The provided formulation is very accurate and does not consider any simplifying assumption. As a result, it can exhibit the system behavior once the system undergoes large deformation and the resulted system is highly nonlinear. Comparing the obtained results with the previous conducted researches, the system modeling will be verified. Since the resulted nonlinear differential equations are highly stiff, some sophisticated numerical dynamics model methods, such as alpha technique, are utilized to numerical simulation of the system. Despite of the various advantages of the ANC modeling method, the controller designing is complicated based on this method. Therefore, the Input Shaping (IS) method are utilized to this end, in the current study. The IS method is based on the identification of the excited frequency modes of the system during the motion, and reduction of these frequencies energy in the resulted shaped inputs. The various shaping methods, such as Zero Vibration (ZV), Zero Vibration Derivative (ZVD), Extra Insensitivity (EI), and negative shaping method, will be utilized in the motion control of the very flexible link. The performance of the aforementioned methods will be evalua
ISSN:0888-3270
1096-1216
DOI:10.1016/j.ymssp.2018.09.003