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• W2792461044 abstract "• Global vibration modes of two-link flexible manipulators are calculated. • Effects of uncertainties and design parameter are studied in modal space. • A modal linearization method is proposed for flexible manipulators. • A control scheme based on the linear model is simulated. Accurate determination of mode shapes and resonant frequencies of high-speed slender robotic arms, known as flexible link manipulators, is fundamental for mechanical design, dynamic analysis, identification, and control of the manipulators. This paper presents a Finite Element (FE) modeling, modal analysis, linearization, and control of a Two-Link Flexible Manipulator (TLFM) based on the global vibration modes, which are essentially more precise than the component mode analysis used in most previous studies. The resonant frequencies and the global vibration modes are employed, then, for analyzing the influence of configuration and payload variations, as well as architecture variations using a prismatic joint in the upper arm. The Modal Assurance Criterion (MAC) is adopted as a tool for comparing the mode shapes. Finally, based on the system modes and MAC calculations, a new modal control scheme is proposed for a multi-stage rest-to-rest maneuver of the manipulator." @default.
• W2792461044 created "2018-03-29" @default.
• W2792461044 creator A5020652557 @default.
• W2792461044 date "2018-07-01" @default.
• W2792461044 modified "2023-10-18" @default.
• W2792461044 title "Mode shape analysis, modal linearization, and control of an elastic two-link manipulator based on the normal modes" @default.
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• W2792461044 doi "https://doi.org/10.1016/j.apm.2018.02.003" @default.
• W2792461044 hasPublicationYear "2018" @default.
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