YaBeSH Engineering and Technology Library

    • Journals
    • PaperQuest
    • YSE Standards
    • YaBeSH
    • Login
    View Item 
    •   YE&T Library
    • ASME
    • ASME Letters in Dynamic Systems and Control
    • View Item
    •   YE&T Library
    • ASME
    • ASME Letters in Dynamic Systems and Control
    • View Item
    • All Fields
    • Source Title
    • Year
    • Publisher
    • Title
    • Subject
    • Author
    • DOI
    • ISBN
    Advanced Search
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Archive

    An Alternate Perspective on Modeling and Control of a Flexible Manipulator: Case Study of a Curvature Control Manipulator Dynamics

    Source: ASME Letters in Dynamic Systems and Control:;2024:;volume( 004 ):;issue: 001::page 11006-1
    Author:
    Ezeanya, Emeka K.
    ,
    Barhorst, Alan A.
    DOI: 10.1115/1.4064347
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: The flexible and adaptable nature of continuum soft robots makes them applicable to a wide range of operations not easily obtainable with conventional rigid-body robots. Thus, soft robots can be used in various operations such as manipulation tasks, minimally invasive surgery operations, robotic rehabilitation/wearable devices, inspection, and surveillance tasks. Unfortunately, the continuous nature of these robotic systems leads to significant modeling and control challenges. Presently, there are various modeling perspectives. However, a detailed review shows that current models are often characterized by problems such as high computational costs, quasi-static assumptions, imprecise inclusion of boundary conditions, spillover instability, etc. These problems limit the accuracy of the resulting model, requiring more effective modeling and control strategies. Therefore, this paper is aimed at improving the state of the art and science of current models by providing more effective strategies for the problems encountered. In this regard, the dynamic modeling of a two-link tendon-driven flexible manipulator based on hybrid parameter multibody system methodology will be presented to demonstrate these strategies. Using the model, path-planned dynamic controls based on pole placement, linear quadratic regulator, and sliding mode control methods will be implemented for a continuous time-varying path. Also, a comparison of the performance of the control methods, in addition to parametric studies for the optimal tendon connection points, will be presented. Results showed that the benefits of the modeling approach and strategies employed led to a highly accurate, real-time performance for the complex motions of the manipulator system.
    • Download: (1.704Mb)
    • Show Full MetaData Hide Full MetaData
    • Get RIS
    • Item Order
    • Go To Publisher
    • Price: 5000 Rial
    • Statistics

      An Alternate Perspective on Modeling and Control of a Flexible Manipulator: Case Study of a Curvature Control Manipulator Dynamics

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/4295519
    Collections
    • ASME Letters in Dynamic Systems and Control

    Show full item record

    contributor authorEzeanya, Emeka K.
    contributor authorBarhorst, Alan A.
    date accessioned2024-04-24T22:36:16Z
    date available2024-04-24T22:36:16Z
    date copyright2/2/2024 12:00:00 AM
    date issued2024
    identifier issn2689-6117
    identifier otheraldsc_4_1_011006.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4295519
    description abstractThe flexible and adaptable nature of continuum soft robots makes them applicable to a wide range of operations not easily obtainable with conventional rigid-body robots. Thus, soft robots can be used in various operations such as manipulation tasks, minimally invasive surgery operations, robotic rehabilitation/wearable devices, inspection, and surveillance tasks. Unfortunately, the continuous nature of these robotic systems leads to significant modeling and control challenges. Presently, there are various modeling perspectives. However, a detailed review shows that current models are often characterized by problems such as high computational costs, quasi-static assumptions, imprecise inclusion of boundary conditions, spillover instability, etc. These problems limit the accuracy of the resulting model, requiring more effective modeling and control strategies. Therefore, this paper is aimed at improving the state of the art and science of current models by providing more effective strategies for the problems encountered. In this regard, the dynamic modeling of a two-link tendon-driven flexible manipulator based on hybrid parameter multibody system methodology will be presented to demonstrate these strategies. Using the model, path-planned dynamic controls based on pole placement, linear quadratic regulator, and sliding mode control methods will be implemented for a continuous time-varying path. Also, a comparison of the performance of the control methods, in addition to parametric studies for the optimal tendon connection points, will be presented. Results showed that the benefits of the modeling approach and strategies employed led to a highly accurate, real-time performance for the complex motions of the manipulator system.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleAn Alternate Perspective on Modeling and Control of a Flexible Manipulator: Case Study of a Curvature Control Manipulator Dynamics
    typeJournal Paper
    journal volume4
    journal issue1
    journal titleASME Letters in Dynamic Systems and Control
    identifier doi10.1115/1.4064347
    journal fristpage11006-1
    journal lastpage11006-17
    page17
    treeASME Letters in Dynamic Systems and Control:;2024:;volume( 004 ):;issue: 001
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian