Modelling and Efficient Dynamic Simulation of Flexible Link Manipulators

R.G.K.M. Aarts; J.B. Jonker; R.R. Waiboer

Modelling and Efficient Dynamic Simulation of Flexible Link Manipulators

R.G.K.M. Aarts, J.B. Jonker, R.R. Waiboer

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

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Abstract

For accurate simulations of the dynamic behaviour of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modelled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set of linear time-varying equations. Next, applying a modal reduction technique reduces the number of degrees of freedom. The proportional part of the control system is explicitly included in the modal analysis.
The applicability and efficiency of the method are 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	WESIC 2001
Subtitle of host publication	Proceedings 3rd Workshop on European Scientific and Industrial Collaboration
Editors	J. van Amerongen, J.B. Jonker, P.P.L. Regtien
Place of Publication	Enschede, Nederland
Pages	413-422
Number of pages	10
Publication status	Published - 27 Jun 2001
Event	3rd Workshop on European Scientific and Industrial Collaboration, WESIC 2001 - University of Twente, Enschede, Netherlands Duration: 27 Jun 2001 → 29 Jun 2001 Conference number: 3

Workshop

Workshop	3rd Workshop on European Scientific and Industrial Collaboration, WESIC 2001
Abbreviated title	WESIC
Country	Netherlands
City	Enschede
Period	27/06/01 → 29/06/01

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@inproceedings{6b915134284840cf9f07d4c93c44967a,

title = "Modelling and Efficient Dynamic Simulation of Flexible Link Manipulators",

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

author = "R.G.K.M. Aarts and J.B. Jonker and R.R. Waiboer",

year = "2001",

month = jun,

day = "27",

language = "English",

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pages = "413--422",

editor = "{van Amerongen}, J. and J.B. Jonker and P.P.L. Regtien",

booktitle = "WESIC 2001",

note = "3rd Workshop on European Scientific and Industrial Collaboration, WESIC 2001, WESIC ; Conference date: 27-06-2001 Through 29-06-2001",

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Aarts, RGKM , Jonker, JB & Waiboer, RR 2001, Modelling and Efficient Dynamic Simulation of Flexible Link Manipulators. in J van Amerongen, JB Jonker & PPL Regtien (eds), WESIC 2001: Proceedings 3rd Workshop on European Scientific and Industrial Collaboration. Enschede, Nederland, pp. 413-422, 3rd Workshop on European Scientific and Industrial Collaboration, WESIC 2001, Enschede, Netherlands, 27/06/01.

Modelling and Efficient Dynamic Simulation of Flexible Link Manipulators. / Aarts, R.G.K.M.; Jonker, J.B.; Waiboer, R.R.

WESIC 2001: Proceedings 3rd Workshop on European Scientific and Industrial Collaboration. ed. / J. van Amerongen; J.B. Jonker; P.P.L. Regtien. Enschede, Nederland, 2001. p. 413-422.

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

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

M3 - Conference contribution

SN - 90-36516-10-2

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EP - 422

BT - WESIC 2001

A2 - van Amerongen, J.

A2 - Jonker, J.B.

A2 - Regtien, P.P.L.

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