Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises
This work addresses the end-effector trajectory-tracking force and motion control of a three-dimensional three-link robot considering measurement noises. The last two links of the manipulator are considered as structurally flexible. An absolute coordinate approach is used while obtaining the dynamic...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-06-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/10/7/513 |
| _version_ | 1797445776721313792 |
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| author | Sinan Kilicaslan Mustafa Kemal Özgören Sıtkı Kemal Ider |
| author_facet | Sinan Kilicaslan Mustafa Kemal Özgören Sıtkı Kemal Ider |
| author_sort | Sinan Kilicaslan |
| collection | DOAJ |
| description | This work addresses the end-effector trajectory-tracking force and motion control of a three-dimensional three-link robot considering measurement noises. The last two links of the manipulator are considered as structurally flexible. An absolute coordinate approach is used while obtaining the dynamic equations to avoid complex dynamic equations. In this approach, each link is modeled as if there is no connection between the links. Then, joint connections are expressed as constraint equations. After that, these constraint equations are used in dynamic equations to decrease the number of equations. Then, the resulting dynamic equations are transformed into a form which is suitable for controller design. Furthermore, the dynamic equations are divided as pseudostatic equilibrium and deviation equations. The control torques resulting from the pseudostatic equilibrium and the elastic deflections are obtained easily as the solution of algebraic equations. On the other hand, the control torques corresponding to the deviations are obtained without any linearization. Encoders, strain gauges, position sensors and force and moment sensors are required for measurements. Low pass filters are considered for the sensors. For the crossover frequencies of the sensors, low and high values are chosen to observe the filtering effect on the robot output. |
| first_indexed | 2024-03-09T13:30:44Z |
| format | Article |
| id | doaj.art-fa81c3c599564b39966bc996caa087fb |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T13:30:44Z |
| publishDate | 2022-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-fa81c3c599564b39966bc996caa087fb2023-11-30T21:19:03ZengMDPI AGMachines2075-17022022-06-0110751310.3390/machines10070513Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement NoisesSinan Kilicaslan0Mustafa Kemal Özgören1Sıtkı Kemal Ider2Mechanical Engineering Department, Gazi University, Ankara 06570, TurkeyMechanical Engineering Department, Middle East Technical University, Ankara 06800, TurkeyMechanical Engineering Department, Çankaya University, Ankara 06790, TurkeyThis work addresses the end-effector trajectory-tracking force and motion control of a three-dimensional three-link robot considering measurement noises. The last two links of the manipulator are considered as structurally flexible. An absolute coordinate approach is used while obtaining the dynamic equations to avoid complex dynamic equations. In this approach, each link is modeled as if there is no connection between the links. Then, joint connections are expressed as constraint equations. After that, these constraint equations are used in dynamic equations to decrease the number of equations. Then, the resulting dynamic equations are transformed into a form which is suitable for controller design. Furthermore, the dynamic equations are divided as pseudostatic equilibrium and deviation equations. The control torques resulting from the pseudostatic equilibrium and the elastic deflections are obtained easily as the solution of algebraic equations. On the other hand, the control torques corresponding to the deviations are obtained without any linearization. Encoders, strain gauges, position sensors and force and moment sensors are required for measurements. Low pass filters are considered for the sensors. For the crossover frequencies of the sensors, low and high values are chosen to observe the filtering effect on the robot output.https://www.mdpi.com/2075-1702/10/7/513flexible manipulatorsflexible robotsconstrained motion controlforce and motion controlmeasurement noises |
| spellingShingle | Sinan Kilicaslan Mustafa Kemal Özgören Sıtkı Kemal Ider Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises Machines flexible manipulators flexible robots constrained motion control force and motion control measurement noises |
| title | Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises |
| title_full | Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises |
| title_fullStr | Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises |
| title_full_unstemmed | Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises |
| title_short | Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises |
| title_sort | hybrid force and motion control of a three dimensional flexible robot considering measurement noises |
| topic | flexible manipulators flexible robots constrained motion control force and motion control measurement noises |
| url | https://www.mdpi.com/2075-1702/10/7/513 |
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