Control of Multi-Link Robots with Link Flexibility

Authors

  • E. Madhusudan Raju  Department of Mechanical Engineering, University College of Engineering, Osmania University, Hyderabad, Telangana State, India
  • L Siva Rama Krishna  Department of Mechanical Engineering, University College of Engineering, Osmania University, Hyderabad, Telangana State, India
  • Mohamed Abbas  Department of Mechanical Engineering, University College of Engineering, Osmania University, Hyderabad, Telangana State, India
  • V Nageswara Rao  Department of Mechanical Engineering, Matrusri Engineering College, Saidabad, Hyderabad, Telangana State, India

Keywords:

Abstract

The flexible robots are favoured in industries and in space applications due to their quick response, low energy consumption, lower overall mass and operation at high speeds compared to conventional industrial rigid link robots. These flexible linkrobots are inherently flexible and this effects the end-point positioning accuracy of the robot. It is important to model the link kinematics with precision which in turn simplifies the modeling of dynamics and control of flexible link robots. The main objective of this paper is to design two types of controllers (PD and PI) to reduce the error at the tip position of two link Revolute-Revolute type Manipulator and ensure that the end effector will follow the specified vertical path when the two links are flexible and the payload is equal to the links mass.

References

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International Journal of Scientific Research in Science and Technology

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Published

2018-04-30

Issue

Volume 4, Issue 5, March-April-2018

Section

Research Articles

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This work is licensed under a Creative Commons Attribution 4.0 International License.

How to Cite

[1]
E. Madhusudan Raju, L Siva Rama Krishna, Mohamed Abbas, V Nageswara Rao, " Control of Multi-Link Robots with Link Flexibility, International Journal of Scientific Research in Science and Technology(IJSRST), Online ISSN : 2395-602X, Print ISSN : 2395-6011, Volume 4, Issue 5, pp.1267-1273, March-April-2018.