Staff View: Dynamic characterisation of a two-link flexible manipulator: theory and experiments

Dynamic characterisation of a two-link flexible manipulator: theory and experiments

This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed...

Full description

Saved in:

Bibliographic Details
Main Authors:	Khairudin, M., Mohamed, Zaharuddin, Husain, Abdul Rashid, Mamat, Rosbi
Format:	Article
Language:	English
Published:	Techno-Press 2014
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/59701/1/ZaharuddinMohamed2014_DynamicCharacterisationofaTwoLinkFlexible.pdf http://eprints.utm.my/id/eprint/59701/ http://dx.doi.org/10.12989/arr.2014.1.1.061
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my.utm.59701
record_format	eprints
spelling	my.utm.597012022-04-14T04:41:02Z http://eprints.utm.my/id/eprint/59701/ Dynamic characterisation of a two-link flexible manipulator: theory and experiments Khairudin, M. Mohamed, Zaharuddin Husain, Abdul Rashid Mamat, Rosbi TK Electrical engineering. Electronics Nuclear engineering This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods, and simulated using Matlab. Experiments are performed on a lab-scaled two-link flexible manipulator for validation of the dynamic model and characterisation of the system. Two system responses namely hub angular position and deflection responses at both links are obtained and analysed in time and frequency domains. The effects of payload on the dynamic characteristics of the flexible manipulator are also studied and discussed. The results show that a close agreement between simulation and experiments is achieved demonstrating an acceptable accuracy of the developed model. Techno-Press 2014 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/59701/1/ZaharuddinMohamed2014_DynamicCharacterisationofaTwoLinkFlexible.pdf Khairudin, M. and Mohamed, Zaharuddin and Husain, Abdul Rashid and Mamat, Rosbi (2014) Dynamic characterisation of a two-link flexible manipulator: theory and experiments. Advances In Robotics Research, 1 (1). pp. 61-79. ISSN 2287-4976 http://dx.doi.org/10.12989/arr.2014.1.1.061 DOI:10.12989/arr.2014.1.1.061
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Khairudin, M. Mohamed, Zaharuddin Husain, Abdul Rashid Mamat, Rosbi Dynamic characterisation of a two-link flexible manipulator: theory and experiments
description	This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods, and simulated using Matlab. Experiments are performed on a lab-scaled two-link flexible manipulator for validation of the dynamic model and characterisation of the system. Two system responses namely hub angular position and deflection responses at both links are obtained and analysed in time and frequency domains. The effects of payload on the dynamic characteristics of the flexible manipulator are also studied and discussed. The results show that a close agreement between simulation and experiments is achieved demonstrating an acceptable accuracy of the developed model.
format	Article
author	Khairudin, M. Mohamed, Zaharuddin Husain, Abdul Rashid Mamat, Rosbi
author_facet	Khairudin, M. Mohamed, Zaharuddin Husain, Abdul Rashid Mamat, Rosbi
author_sort	Khairudin, M.
title	Dynamic characterisation of a two-link flexible manipulator: theory and experiments
title_short	Dynamic characterisation of a two-link flexible manipulator: theory and experiments
title_full	Dynamic characterisation of a two-link flexible manipulator: theory and experiments
title_fullStr	Dynamic characterisation of a two-link flexible manipulator: theory and experiments
title_full_unstemmed	Dynamic characterisation of a two-link flexible manipulator: theory and experiments
title_sort	dynamic characterisation of a two-link flexible manipulator: theory and experiments
publisher	Techno-Press
publishDate	2014
url	http://eprints.utm.my/id/eprint/59701/1/ZaharuddinMohamed2014_DynamicCharacterisationofaTwoLinkFlexible.pdf http://eprints.utm.my/id/eprint/59701/ http://dx.doi.org/10.12989/arr.2014.1.1.061
_version_	1731225574669549568
score	13.211869

Dynamic characterisation of a two-link flexible manipulator: theory and experiments

Similar Items