The Control Modeling And Dynamic Analysis Of Flexible Cooperative Manipulators

The coordination of robots and flexible manipulator are advanced topics in the study of robotic. At the present time, a lot of works in these fields have been made. A new research topic, the coordination of flexible robots was combined with these two fields. The coordination of multi-flexible robots has both advantages of the coordination of robots and flexible manipulator. The disadvantages such as large error, elastic vibration, etc were overcome, and the performance of the robots system was improved. Finite element method and the Lagrangian approach were used to derive the dynamic model in most of these studies. However, this model has some drawbacks such as the large equation, slow solution rate, etc. It is difficult to apply this model in practical industry control.In this thesis, the dynamic models of flexible manipulator and the coordination of flexible robots are established using assumed modes method and Lagrangian approach. The cooperation of flexible arms manipulating a rigid load is studied in the dynamic modeling.Firstly, dynamic model is established and dynamic equations are derived by using assumed modes method and Lagrangian approach. The solution methods of both forward and inverse dynamics are discussed. The simulation results demonstrated the feasibility and effectiveness of this method. At the same time, it is pointed out that the number of the dynamic equations and generalized variables can be reduced and the complexity of these equations can be simplified to improve the calculate speed.Secondly, two characteristics of flexible coordinated robots system different from the coordinated system of rigid robots have been recognized. Applying the assumed modes method and Lagrangian approach, the kinematic and dynamic coordination constraints are then derived for coordinated flexible robots manipulating the rigid load. The dynamic equations of system have been established. The feasibility and effectiveness of this method have also been discussed through numerical simulation.Finally, the dynamic adjust scheme for compensating the positionand orientation errors of the grasped load has been developed to complete the assignment of the required object trace. The manipulating precision of grasped load has been improved by adjusting the input angle of each joint.