NDLI: Control of Flexible Payloads Grasped by Actuated Grippers Undergoing Large Rigid-Body Motions: Part I

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Edward, J. Park James, K. Mills
Copyright Year	2002
Abstract	This paper is Part I of a preliminary study to simultaneously control vibration and static shape deformation in flexible payloads. In Part I, the dynamics of a flexible payload grasped by an actuated gripper, which is attached to a rigid link robotic manipulator, is investigated using the component mode synthesis (CMS) method. Robot and actuator dynamics are also added to the system dynamic model to fully define the rigid body motion and elastic motion of the flexible payload. The CMS method is employed to explicitly model the coupling between the payload and actuators, and to reduce the system order. With the addition of fixed-interface quasi-static modes to fixed-interface vibration normal modes and actuator constraint modes an improved component mode representation is defined. Here, it is found that the inclusion of quasi-static modes in the CMS formulation results in increased ac curacy for simulation of dynamic behaviour of flexible payloads subject to both gravity and robot motion induced forces. Numerical examples are presented to demonstrate the effectiveness of the new component mode representation for the given robotics problem. In Part II [9], the two-time scale modeling (TSM) technique is used taking advantage of two-time scale behavior between the quasi-static modes and vibration modes in the dynamic model.
Sponsorship	Design Engineering Division
Starting Page	493
Ending Page	499
Page Count	7
File Format	PDF
ISBN	0791836282
DOI	10.1115/IMECE2002-32407
Volume Number	Design Engineering
Conference Proceedings	ASME 2002 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2002-11-17
Publisher Place	New Orleans, Louisiana, USA
Access Restriction	Subscribed
Subject Keyword	Actuators Vibration Deformation System dynamics Gravity (force) Manipulators Grippers Modeling Robotics Robot motion Simulation Dynamics (mechanics) Dynamic models Shapes Robots
Content Type	Text
Resource Type	Article

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Control of Flexible Payloads Grasped by Actuated Grippers Undergoing Large Rigid-Body Motions: Part II — Controllability and Observability

Dynamic modeling of flexible payloads grasped by actuated grippers using component mode synthesis

Two-time scale shape control of flexible payloads grasped by actuated grippers

Robust control of rigid-link flexible-joint robots with redundant joint actuators

Maximum allowable dynamic load of flexible manipulators with imposing residual vibration constraint

Mechanics of cooperative nonprehensile pulling by multiple robots

Modal force based input shaper for vibration suppression of flexible payloads

Robot manipulator path planning

Vibration control of flexible manipulators using smart structures

Control of Flexible Payloads Grasped by Actuated Grippers Undergoing Large Rigid-Body Motions: Part I — Dynamics

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