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Inverse dynamics control of constrained flexible joint robots
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116214.pdf
Date
2001
Author
İyigün, Hulusi Han
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https://hdl.handle.net/11511/11443
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Graduate School of Natural and Applied Sciences, Thesis
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Inverse dynamics control of constrained robots in the presence of joint flexibility
Ider, SK (Elsevier BV, 1999-07-29)
An inverse dynamics control algorithm for constrained flexible-joint robots is developed. It is shown that in a flexible-joint robot, the acceleration level inverse dynamic equations are singular because of the elastic media. Implicit numerical integration methods that account for the higher order derivative information are utilized for solving the singular set of differential equations. The control law proposed linearizes and decouples the system and achieves simultaneous and asymptotically stable trajecto...
Inverse dynamics control of flexible joint parallel manipulators
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The purpose of this thesis is to develop a position control method for parallel manipulators so that the end effector can follow a desired trajectory specified in the task space where joint flexibility that occurs at the actuated joints is also taken into consideration. At the beginning of the study, a flexible joint is modeled, and the equations of motion of the parallel manipulators are derived for both actuator variables and joint variables by using the Lagrange formulation under three assumptions regard...
Inverse dynamics control of parallel manipulators around singular configurations
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In this thesis, a technique for the motion of parallel manipulators through drive singularities is investigated. To remedy the problem of unbounded inverse dynamics solution in the neighborhood of drive singularities, an inverse dynamics controller which uses a conventional inverse dynamics control law outside the neighborhood of singularities and switches to the mode based on the formerly derived modified equations inside the neighborhood of singularities is proposed. As a result, good tracking performance...
Inverse dynamics of parallel manipulators in the presence of drive singularities
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At drive singularities of parallel manipulators the actuators lose control of the end-effector in certain directions. It is shown that if certain conditions related to the consistency of the dynamic equations are satisfied by a proper design of the trajectory, the manipulator can pass through the singular positions while the actuator forces and the system motion remain stable. To find the values of the actuator forces in the neighborhood of the drive singularities, the dynamic equations are modified by usin...
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H. H. İyigün, “Inverse dynamics control of constrained flexible joint robots,” Middle East Technical University, 2001.