Control of a Flexible Laboratory Manipulator Using a Non-linear Lyapunov-type Controller
سال انتشار: 1392
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 193
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شناسه ملی سند علمی:
ISME21_665
تاریخ نمایه سازی: 17 آبان 1401
چکیده مقاله:
Flexibility of robot links inevitably causes the elastic deflection and vibration of the endpoint of the robot during high-speed operations. The deflection and vibration will tend to degrade the positioning performance of the robot. In this paper a non-linear Lyapunov-type controller is applied to control the dynamics of a flexible SCARA robot, The Selective Complaint Articulated/Assembly Robot Arm. A mathematical model governing the dynamics of the flexible manipulator is derived using lumped masses and spring model. Control strategy based on the concept of non-linear Lyapunov-type controller is then proposed to damp the tip oscillations and regulate the end point of the flexible robot.
کلیدواژه ها:
نویسندگان
Azadeh Shariati
PhD Candidate of Mechanical Engineering, K.N. Toosi University of Technology
Ali Ghaffari
Professor of Mechanical Engineering, K.N. Toosi University of Technology
Amir H Shamekhi
Assistant Professor of Mechanical Engineering, K.N. Toosi University of Technology