NDLI: Numerical Implementation and Comparison Between the Viscous, Fractional and Hysteretic Damping Models of a Rigid-Flexible Planar Manipulator

Content Provider	IEEE Xplore Digital Library
Author	Martins, J.M. Paris, A.N. da Costa, J.M.G.S.
Copyright Year	2007
Description	Author affiliation: Dept. of Mech. Eng., Tech. Univ. of Lisbon (Martins, J.M.; Paris, A.N.; da Costa, J.M.G.S.)
Abstract	This work treats the problem of modeling and identification of the structural damping of the flexible link of a rigid-flexible manipulator. Besides dissipating energy due to the joint friction, like in rigid robots, flexible robots also dissipate energy due to structural damping that results in the time amplitude decay of the flexible arms oscillations. This behavior is traditionally tackled recurring to viscous, fractional Voigt-Kelvin or hysteretic models. In this paper, for the latter two approaches, numerical approximations are used for their numerical implementation. Furthermore, a heuristic method based on the joint and flexible arm time responses is applied and compared with other methods, like recursive least-squares, to identify the large set of parameters of a flexible manipulator, including the inertial and joint friction parameters.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	3433
Ending Page	3438
File Size	454947
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.364003
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hysteresis Damping Manipulator dynamics Friction Robots Mathematical model Equations Arm Parameter estimation Energy dissipation parameter identification flexible manipulators joint friction structural damping
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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