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《China Mechanical Engineering》 2009-24
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Dynamics Analysis and Control of 1P5R Flexible Joint Manipulator

Zhuang Wei Fang Chenwei Liu XiaopingBeijing University of Posts and Telecommunications,Beijing,100876  
A dynamics model coupled rigid and flexible system of a 6DOF flexible joint manipulator was established,and the feedback linearization control of manipulators including 1 prismatic joint and 5 revolute joints was discussed detailedly.Then trajectory was designed in workspace of the system,and tracking control methods considering two different motions at the same route were simulated numerically with MATLAB.The results show that the trajectory tracking having the startup and braking phases are more effective.The flexibility of joints affects the shaft position of the revolute joint directly which absorbs the oscillations,and the more flexible,the larger of the difference between the shaft position and joint position.However,the flexibility of joints has little effect in the shaft position of the prismatic joint.
【Fund】: 留学归国人员教学、科研建设项目;; 国家863高技术研究发展计划资助项目(2006AA04Z243)
【CateGory Index】: TP242
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【Citations】
Chinese Journal Full-text Database 4 Hits
1 CHU Ming,JIA Qing-xuan,SUN Han-xu,ZHANG Xiao-dong,YAO Fusheng(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China);Coupling of the Dynamics and Control of the Space Flexible Manipulative Arm[J];Journal of Beijing University of Posts and Telecommunications;2008-03
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4 Yang Yuwei1Zhang Minglu1Zhao Xinhua21.Hebei University of Technology,Tianjin,3001302.Tianjin University of Technology,Tianjin,300191;Study and Simulation of Dynamics of a 7-DOF Flexible Wheeled Mobile Manipulator[J];China Mechanical Engineering;2009-06
【Co-citations】
Chinese Journal Full-text Database 8 Hits
1 ZHUANG Wei,LIU Xiao-ping(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China);Vibration Environmental Prediction of Flexible Joint Robot in Moving State[J];Journal of Beijing University of Posts and Telecommunications;2009-05
2 CHU Ming,JIA Qingxuan,SUN Hanxu(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China);Mode Characteristics for the Controllable Flexible Manipulator in Weightlessness[J];Robot;2009-06
3 SUN Hanxu CHU Ming JIA Qingxuan(Automation School,Beijing University of Posts and Telecommunications,Beijing 100876);Hybrid Control Using Wavelet Neural Networks and Robust Method for Flexible Joint with Friction and Uncertainties Compensation[J];Journal of Mechanical Engineering;2010-13
4 ZHANG Xiao-dong,JIA Qing-xuan,SUN Han-xu,CHU Ming (Beijing University of Posts and Telecommunications,Beijing 100876,China);The Research of Space Robot Flexible Joint Trajectory Control[J];Journal of Astronautics;2008-06
5 Xu Sheng1,2 Bao Guanjun1 Zhang Libin1 Yang Qinghua11.The Key Laboratory of Mechanical Manufacture and Automation of Ministry of Education,Zhejiang University of Technology,Hangzhou,3100322.Zhejiang Business Technology Institute,Ningbo,Zhejiang,315012;Neural Network Control of 5-DOF Flexible Pneumatic Finger[J];China Mechanical Engineering;2008-23
6 WANG Yan-min, FENG Yong(Department of Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China);Trajectory Tracking Control of Uncertain Two-link Flexible Manipulators[J];Journal of System Simulation;2009-20
7 ZHUANG Wei,LIU Xiao-ping(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China);Joint parameter identification of a moving flexible joint robot[J];Journal of Vibration and Shock;2010-04
8 ZHUANG Wei,LIU Xiao-ping(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China);Joint parameters identification of robot based on traveling wave approach and neural network[J];Journal of Vibration Engineering;2010-02
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