Hostname: page-component-7479d7b7d-68ccn Total loading time: 0 Render date: 2024-07-11T05:28:06.916Z Has data issue: false hasContentIssue false
  • English
  • Français

Modelling and control of manipulators with flexible links working on land and underwater environments

Published online by Cambridge University Press:  21 July 2010

Levent Gümüşel  and
Nurhan Gürsel Özmen
Levent Gümüşel*
Affiliation:
Department of Mechanical Engineering, Karadeniz Technical University, Trabzon 61080, Turkey. E-mail: gnurhan@ktu.edu.tr
Nurhan Gürsel Özmen
Affiliation:
Department of Mechanical Engineering, Karadeniz Technical University, Trabzon 61080, Turkey. E-mail: gnurhan@ktu.edu.tr
*
*Corresponding author. E-mail: gumusel@ktu.edu.tr
Get access Rights & Permissions [Opens in a new window]

Summary

In this study, modelling and control of a two-link robot manipulator whose first link is rigid and the second one is flexible is considered for both land and underwater conditions. Governing equations of the systems are derived from Hamilton's Principle and differential eigenvalue problem. A computer program is developed to solve non-linear ordinary differential equations defining the system dynamics by using Runge–Kutta algorithm. The response of the system is evaluated and compared by applying classical control methods; proportional control and proportional + derivative (PD) control and an intelligent technique; integral augmented fuzzy control method. Modelling of drag torques applied to the manipulators moving horizontally under the water is presented. The study confirmed the success of the proposed integral augmented fuzzy control laws as well as classical control methods to drive flexible robots in a wide range of working envelope without overshoot compared to the classical controls.

Keywords

Flexible manipulatorsUnderwater robotsFuzzy + Integral control
Type
Article
Information
Robotica , Volume 29 , Issue 3 , May 2011 , pp. 461 - 470
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Cannon, R. H. and Schmitz, E., “Initial experiments on the end-point control of a flexible one-link robot,” Int. J. Robot. Res. 3 (3), 62–75 (1984).CrossRefGoogle Scholar
2.Chao, L. P., “Optimal design and sensitivity analysis of flexible robotic manipulators fabricated from advanced composite materials,” J. Thermoplast. Compos. Mater. 8 (4), 346–364 (1995).CrossRefGoogle Scholar
3.Liao, D. X., Sung, C. K. and Thompson, B. S., “The design of flexible robotic manipulators with optimal arm geometries fabricated from composite laminates with optimal material properties,” Int. J. Robot. Res. 6 (3), 116–130 (1987).CrossRefGoogle Scholar
4.Book, W. J., “Recursive lagrangian dynamics of flexible manipulator arms,” Int. J. Robot. Res. 3 (3), 87–101 (1984).CrossRefGoogle Scholar
5.Book, W. J., “Modeling, Design, and Control of Flexible Manipulator Arms: A Tutorial Review,” Proceedings of the IEEE Conference on Decision and Control (1990), pp. 500–506.Google Scholar
6.Theodore, R. J., “Comparison of the assumed modes and finite element models for flexible multilink manipulators,” Int. J. Robot. Res. 14 (2), 91–111 (1995).CrossRefGoogle Scholar
7.Sakawa, Y., Matsuno, F. and Fukushima, S., “Modelling and feedback control of a flexible arm,” Int. J. Robot. 2, 435–456 (1985).Google Scholar
8.Tso, S. K., Yang, T. W., Xu, W. L. and Sun, Z. Q., “Vibration control for a flexible-link robot arm with deflection feedback,” Int. J. NonLinear Mech. 38, 51–62 (2003).CrossRefGoogle Scholar
9.Adams, R. J., Apkarian, A. and Chr'etien, J.-P., “Robust Control Approaches for a Two-Link Flexible Manipulator,” Third International Conference on Dynamics and Control of Structures in Space (1996).Google Scholar
10.Gaultier, P. E. and Cleghorn, W. L., “Modeling of Flexible Manipulator Dynamics: A Literature Survey,” Proceedings of First National Applied Mechanism and Robot Conference, Cincinnati, OH (1989), pp. 1–10.Google Scholar
11.Benosman, M. and LeVey, G., “Control of flexible manipulators: A survey,” Robotica 22, 533–545 (2004).CrossRefGoogle Scholar
12.Dwivedy, S. K. and Eberhard, P., “Dynamic analysis of flexible manipulators, a literature review,” Mech. Mach. Theory 41, 749–777 (2006).CrossRefGoogle Scholar
13.Yang, Z. and Sadler, J. P., “Large-displacement finite element analysis of flexible linkage,” ASME J. Mech. Des. 112, 175–182 (1990).CrossRefGoogle Scholar
14.Watanabe, T., Yamamoto, K., Takamura, K. and Seto, K., “Robust vibration control of a flexible robot arm carrying an uncertain load that causes bending/torsional coupling,” J. Robot. Mechatronics 16 (4), (2004).Google Scholar
15.Yamano, M., Kim, J. S., Konno, A. and Uchiyama, M., “Cooperative control of a 3D dual-flexible-arm robot,” J. Intell. Robot. Syst. 39 (1), (2004).CrossRefGoogle Scholar
16.Cetinkunt, S. and Yu, W., “Closed-loop behavior of a feedback-controlled flexible arm: A comparative study,” Int. J. Robot. Res. 10 (3), 263–275 (1991).CrossRefGoogle Scholar
17.Sakawa, Y., Matsuno, F. and Asano, T., “Modelling and quasi-static hybrid position force of constrained planar two-link flexible manipulators,” IEEE Trans. Robot. Autom. 10 (3), (1994).Google Scholar
18.Doğan, A., “İki Eklemli Esnek Bir Robot Kolunun Modellenmesi ve Kontrolü,” In: Master of Science (Anadolu University, Natural Sciences Institute, Eskişehir, Turkey, 1997).Google Scholar
19.Dogan, A. and Iftar, A., “Modeling and Control of a Two-Link Flexible Robot Manipulator,” Proceedings of the 7th IEEE Conference on Control Applications, Trieste, Italy (1998) pp. 761–765.Google Scholar
20.Lee, J. X., Vukovich, G. and Sasiadek, J. Z., “Fuzzy Control of A Flexible Link Manipulator,” Proceedings of the American control Conference, Baltimore, MD (1994) pp. 570–576.Google Scholar
21.Moudgal, V. G., Kwong, W. A., Passino, K. M. and Yurkovich, S., “Fuzzy learning control for a flexible-link robot,” IEEE Trans. Fuzzy Syst. 3 (2), 199–210 (1995).CrossRefGoogle Scholar
22.Chalhoub, N. G. and Bazzi, B. A., “Fuzzy logic control for an integrated system of a micro-manipulator with a single flexible beam,” J. Vib. Control 10 (5), 755–776 (2004).CrossRefGoogle Scholar
23.Kuo, K. Y. and Lin, J., “Fuzzy logic control for flexible link robot arm by singular perturbation approach,” Appl. Soft Comput. 2 (1), 24–38 (2002).CrossRefGoogle Scholar
24.Tian, L. and Collins, C., “Adaptive neuro-fuzzy control of a flexible manipulator,” Mechatronics 15, 1305–1320 (2005).CrossRefGoogle Scholar
25.Malki, H. A., Misir, D., Feigenspan, D. and Chen, G., “Fuzzy PID control of a flexible-joint robot arm with uncertainties from time-varying loads,” IEEE Trans. Control Syst. Technol. 5 (3), 371–378 (1997).CrossRefGoogle Scholar
26.Lee, S., Choi, Y. S., Jeong, K. and Jung, S., “Development of an underwater manipulator for maintaining nuclear power reactor,” Int. Conf. Control Autom. Syst., Seoul, Korea (2007) pp. 17–20.Google Scholar
27.Farbrother, H. N. R. and Stacey, B. A., “Aspects of remotely operated vehicle control – a review,” Underw. Technol. 19 (1), 24–36 (1993).Google Scholar
28.Rivera, C. and Hinchey, M., “Hydrodynamic loads on subsea robots,” Ocean Eng. 26 (8), 805–812 (1999).CrossRefGoogle Scholar
29.Muggeridge, K. and Hinchey, M., “A New Jet Propulsion Device for Small Subsea Robots,” Proceedings of the Symposium on Autonomous Underwater Vehicle Technology (2–3 Jun. 1992) pp. 112–115.Google Scholar
30.Goheen, K. R., “Modelling methods for underwater robotic vehicle dynamics,” J. Robot. Syst. 8 (3), 295–317 (2007).CrossRefGoogle Scholar
31.Leabourne, K. N., Rock, S. M., Fleischer, S. D. and Burton, R., “Station Keeping of an ROV Using Vision Technology,” Proceedings of Oceans'97 1, 634–640 (1997).CrossRefGoogle Scholar
32.Kato, N. and Lane, D. M., “Coordinated control of multiple manipulators in underwater robots,” J. Soc. Naval Archit. Japan 178, 675–684 (1995).CrossRefGoogle Scholar
33.Sun, Y. C. and Cheah, C. C., “Adaptive control schemes for autonomous underwater vehicle,” Robotica 27 (1), 119–129 (2009).CrossRefGoogle Scholar
34.Sagara, S., Tanikawa, T., Tamura, M. and Katoh, R., “Experiments on a floating underwater robot with a two-link manipulator,” Artif. Life Robot. 5 (4), (Dec. 2001).CrossRefGoogle Scholar
35.Ishitsuka, M. and Ishii, K., “Development of an underwater manipulator mounted for an AUV considering dynamic manipulability,” Int. Congr. Ser. 1291, 269–272 (2006).CrossRefGoogle Scholar
36.Lee, H. C., “A robust neural controller for underwater robot manipulators”, IEEE Trans. Neural Netw. 11 (6), 1465–1470 (2000).Google ScholarPubMed
37.Meirovitch, L., Fundamentals of Vibrations (McGraw-Hill, Singapore, 2001).CrossRefGoogle Scholar
38.Fox, W. R. and Mc Donald, T. A., Introduction to Fluid Mechanics, 4th ed. (John Wiley & Sons, Inc., New York, 1994).Google Scholar
39.Baumeister, T., Avallone, A., BaumeisterIII, A. and Marks, T., Standart Handbook for Mechanical Engineers, 8th ed. (McGraw – Hill, New York, 1978).Google Scholar