Abstract
This paper is concerned with the synthesis of dynamic model of the redundant manipulator robot based on Linear Parameter Varying approach. To evaluate its behavior and in presence of external disturbance several motions profiles are developed using a new algorithm which produce smooth trajectories in optimal time. The main advantages of this proposed approach are its robustness and its simplicity with respect to the flexibility structure, to the motion profile and mass load variations. Numerical simulations with several tasks show that in presence of mass load variation the desired trajectory is more efficiently followed by the LPV model than the dynamic model of the studied mechanism. Its performances are ensured using the smoothest trajectory designed by the Eighth-degree polynomial profile than the Fifth-degree polynomial one and the trapezoidal one.
Highlights
Redundant manipulators robots, the combination of rigid and flexible structures mounted in series are of great interest in a number of applications in the modern industry [1]-[3].Recently, the use of these manipulators containing flexible arm has received much attention
In order to cope with this problem, we propose to apply the linear parameter varying approach to the calculated nonlinear model of the redundant manipulator robot in the first step
The contribution of this paper consists of simulating the Linear Parameter Varying (LPV) model of the considered robotic system using several inputs and evaluating the system’s performances in presence of external disturbances and discontinuous inputs
Summary
The combination of rigid and flexible structures mounted in series are of great interest in a number of applications in the modern industry [1]-[3]. The dynamic complexity of redundant manipulator robot related to the flexible structure may cause some difficulties especially in high speeds such as external disturbance and highly nonlinearity [8]. Several motions profiles are applied to evaluate the system’s behaviour with a variable mass load as an external disturbance. The contribution of this paper consists of simulating the Linear Parameter Varying (LPV) model of the considered robotic system using several inputs and evaluating the system’s performances in presence of external disturbances and discontinuous inputs.
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