Efficient dynamic simulation of flexible link manipulators with PID control

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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 languageEnglish
Title of host publicationProceedings of DETC'01
Subtitle of host publicationASME 2001 Design Engineering Technical Conferences and Computers and Information in Engineering Conference
EditorsD.T. Mook, B. Balachandran
Place of PublicationPittsburgh, PA, USA
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages1-8
Number of pages8
ISBN (Print)0-7918-3531-6
Publication statusPublished - 9 Sep 2001
EventASME 2001 Design Engineering Technical Conferences and Computers & Information in Engineering Conference, DETC 2001 - Pittsburgh, United States
Duration: 9 Sep 200112 Sep 2001

Conference

ConferenceASME 2001 Design Engineering Technical Conferences and Computers & Information in Engineering Conference, DETC 2001
Abbreviated titleDETC
CountryUnited States
CityPittsburgh
Period9/09/0112/09/01

Keywords

  • METIS-203071
  • IR-90469

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