tailieunhanh - Robot manipulators new achievements_2

Tham khảo sách 'robot manipulators new achievements_2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 24 Vibration Based Control for Flexible Link Manipulator Tamer Mansour Atsushi Konno and Masaru Uchiyama Tohoku University Japan 1. Introduction Robotic manipulators are widely used to help in dangerous monotonous and tedious jobs. Most of the existing robotic manipulators are designed and built in a manner to maximize stiffness in an attempt to minimize the vibration of the end-effectors. This high stiffness is achieved by using heavy material and bulky design. Hence the existing heavy rigid manipulators are shown to be inefficient in terms of power consumption or speed with respect to the operating payload. Also the operation of high precision robots is severely limited by their dynamic deflection which persists for a period of time after a move is completed. The settling time required for this residual vibration delays subsequent operations thus conflicting with the demand of increased productivity. These conflicting requirements between high speed and high accuracy have rendered the robotic assembly task a challenging research problem. In addition many industrial manipulators face the problem of arm vibrations during high-speed motion. In order to improve industrial productivity it is required to reduce the weight of the arms and or to increase their speed of operation. For these purposes it is very desirable to build flexible robotic manipulators. Compared to the conventional heavy and bulky robots flexible link manipulators have the potential advantage of lower cost larger work volume higher operational speed greater payload-to-manipulator weight ratio smaller actuators lower energy consumption better manoeuvrability better transportability and safer operation due to reduced inertia. However the major drawback of these robots is the inaccuracy of the end effectors due to low stiffness. Due to the importance and usefulness of these robots researchers are nowadays engaged in the investigation of control of flexible manipulator. The issue of tip position control