Abstract
In order to study the dynamic phenomenon of flexible robot, a physical model of a rigid-flexible constrained robot with three links is presented. The front link is flexible, and two back links are rigid. Some factors, such as flexibility of link and joints, gravity, damping, mass of joints, are considered in the model. Further more, the dynamic equation is obtained by Lagrangian method. It is a high coupled and high nonlinear system. One fuzzy PID controller was designed, so that the parameters of the controller based on model can be modified on line to realize high precision position and force control. The simulation results indicate that the controller is valid to control the position error and force error of the system.
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© 2008 Springer-Verlag Berlin Heidelberg
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Cui, Yh., Yun, C., Wang, Yy., Sun, K., Tang, Q. (2008). Dynamic Modeling and Control of Rigid-Flexible Constrained Robot with Three Links. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_42
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DOI: https://doi.org/10.1007/978-3-540-88513-9_42
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
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