Efficient dynamic simulation of flexible link manipulators with PID control

Ronald G.K.M. Aarts; Jan B. Jonker

Efficient dynamic simulation of flexible link manipulators with PID control

Ronald G.K.M. Aarts, Jan B. Jonker

Faculty of Engineering Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

25 Downloads (Pure)

Abstract

For accurate simulations of the dynamic behavior of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modeled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set of linear timevarying equations. Next, the number of degrees of freedom is reduced by applying a modal reduction technique. The proportional part of the control system is explicitly included in the modal analysis. The applicability of the method is demonstrated by simulating the controlled trajectory motion of a spatial flexible three-degree of freedom manipulator with PID control.

Original language	English
Title of host publication	Proceedings of DETC'01
Subtitle of host publication	ASME 2001 Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Editors	D.T. Mook, B. Balachandran
Place of Publication	Pittsburgh, PA, USA
Publisher	American Society of Mechanical Engineers (ASME)
Pages	1-8
Number of pages	8
ISBN (Print)	0-7918-3531-6
Publication status	Published - 9 Sep 2001
Event	ASME 2001 Design Engineering Technical Conferences and Computers & Information in Engineering Conference, DETC 2001 - Pittsburgh, United States Duration: 9 Sep 2001 → 12 Sep 2001

Conference

Conference	ASME 2001 Design Engineering Technical Conferences and Computers & Information in Engineering Conference, DETC 2001
Abbreviated title	DETC
Country	United States
City	Pittsburgh
Period	9/09/01 → 12/09/01

Keywords

METIS-203071
IR-90469

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Aarts, Ronald G.K.M. ; Jonker, Jan B. / Efficient dynamic simulation of flexible link manipulators with PID control. Proceedings of DETC'01: ASME 2001 Design Engineering Technical Conferences and Computers and Information in Engineering Conference. editor / D.T. Mook ; B. Balachandran. Pittsburgh, PA, USA : American Society of Mechanical Engineers (ASME), 2001. pp. 1-8

@inproceedings{c5bf832452024be1afac32bb9614d2fa,

title = "Efficient dynamic simulation of flexible link manipulators with PID control",

abstract = "For accurate simulations of the dynamic behavior of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modeled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set of linear timevarying equations. Next, the number of degrees of freedom is reduced by applying a modal reduction technique. The proportional part of the control system is explicitly included in the modal analysis. The applicability of the method is demonstrated by simulating the controlled trajectory motion of a spatial flexible three-degree of freedom manipulator with PID control.",

keywords = "METIS-203071, IR-90469",

author = "Aarts, {Ronald G.K.M.} and Jonker, {Jan B.}",

note = "publicatie op cd-rom ; ASME 2001 Design Engineering Technical Conferences and Computers & Information in Engineering Conference, DETC 2001, DETC ; Conference date: 09-09-2001 Through 12-09-2001",

year = "2001",

month = sep,

day = "9",

language = "English",

isbn = "0-7918-3531-6",

pages = "1--8",

editor = "D.T. Mook and B. Balachandran",

booktitle = "Proceedings of DETC'01",

publisher = "American Society of Mechanical Engineers (ASME)",

address = "United States",

}

Aarts, RGKM & Jonker, JB 2001, Efficient dynamic simulation of flexible link manipulators with PID control. in DT Mook & B Balachandran (eds), Proceedings of DETC'01: ASME 2001 Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers (ASME), Pittsburgh, PA, USA, pp. 1-8, ASME 2001 Design Engineering Technical Conferences and Computers & Information in Engineering Conference, DETC 2001, Pittsburgh, United States, 9/09/01.

Efficient dynamic simulation of flexible link manipulators with PID control. / Aarts, Ronald G.K.M.; Jonker, Jan B.

Proceedings of DETC'01: ASME 2001 Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ed. / D.T. Mook; B. Balachandran. Pittsburgh, PA, USA : American Society of Mechanical Engineers (ASME), 2001. p. 1-8.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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N2 - For accurate simulations of the dynamic behavior of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modeled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set of linear timevarying equations. Next, the number of degrees of freedom is reduced by applying a modal reduction technique. The proportional part of the control system is explicitly included in the modal analysis. The applicability of the method is demonstrated by simulating the controlled trajectory motion of a spatial flexible three-degree of freedom manipulator with PID control.

AB - For accurate simulations of the dynamic behavior of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modeled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set of linear timevarying equations. Next, the number of degrees of freedom is reduced by applying a modal reduction technique. The proportional part of the control system is explicitly included in the modal analysis. The applicability of the method is demonstrated by simulating the controlled trajectory motion of a spatial flexible three-degree of freedom manipulator with PID control.

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KW - IR-90469

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