Dynamic characterisation of a single-link flexible manipulator

Dynamic characterisation of a single-link flexible manipulator

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In this chapter, an analytical model of a single-link flexible manipulator, characterised by a set of infinite number of natural modes, is first developed. This is used to develop state-space and equivalent frequency domain models of the system. These models can further be used for controller design exercises. A case study exercise is presented, where an experimental flexible manipulator system is used for identifying model parameters. The model parameter identification procedure involves spectral analysis of collected input-output data from the experimental system. The identified parameters are then used with the developed model and the model response is verified with the experimental system.

Chapter Contents:

  • 3.1 Introduction
  • 3.2 Dynamic equations of the system
  • 3.2.1 The flexible manipulator system
  • 3.2.2 Energies associated with the system
  • 3.2.3 The dynamic equations of motion
  • 3.3 Mode shapes
  • 3.4 State-space model
  • 3.5 Transfer function model
  • 3.6 Case study 3.1: experimentation
  • 3.6.1 Natural frequencies
  • 3.6.2 Damping ratios
  • 3.6.3 Modal gain
  • 3.6.4 Model validation
  • 3.7 Summary

Inspec keywords: flexible manipulators; parameter estimation; spectral analysis

Other keywords: dynamic characterisation; flexible manipulator system; controller design; single-link flexible manipulator; model parameter identification procedure; spectral analysis

Subjects: Manipulators

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