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Proceedings Papers

Modelling of Flexible Manipulators Employing a Spatially Translating and Rotating Beam Finite Element

Philippe E. Gaultier, William L. Cleghorn
Proc. ASME. DETC91, 13th Biennial Conference on Mechanical Vibration and Noise: Structural Vibration and Acoustics, 307-317, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0218
https://doi.org/10.1115/DETC1991-0218
View Paper titled, Modelling of Flexible Manipulators Employing a Spatially Translating and Rotating Beam Finite Element
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Topics: Finite element analysis, Flexible manipulators, Modeling, Rotating beams, Actuators, Damping, Manipulators, Stress, Design, Differential equations
Proceedings Papers

Inverse Dynamics Based Trajectory Tracking for a One-Link Flexible Arm

Santiago López-Linares, Roberto F. Jacobus, Eliodoro Carrera, Miguel A. Serna
Proc. ASME. CIE91, ASME 1991 Computers in Engineering Conference: Volume 2 — Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls, 543-548, August 18–22, 1991
Publisher: American Society of Mechanical Engineers
Paper No: CIE1991-0166
https://doi.org/10.1115/CIE1991-0166
View Paper titled, Inverse Dynamics Based Trajectory Tracking for a One-Link Flexible Arm
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Topics: Dynamics (Mechanics), Trajectories (Physics), Torque, Actuators, Computer simulation, Design, Errors, Finite element model, Flexible manipulators, Friction
Proceedings Papers

Finite Element Analysis of Revolute Manipulators With Link and Joint Compliance by Joint-Beam Elements

Zhijia Yang, J. P. Sadler
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 619-625, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0266
https://doi.org/10.1115/DETC1992-0266
View Paper titled, Finite Element Analysis of Revolute Manipulators With Link and Joint Compliance by Joint-Beam Elements
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Topics: Finite element analysis, Manipulators, Flexible manipulators, Actuators, Composite materials, Design, Errors, Inertia (Mechanics), Modeling, Robots
Proceedings Papers

An Isoparametric Four-Node Beam Element for the Analysis of Planar Robot Manipulators

Ahmad A. Smaili, Muhammad Sannah
Proc. ASME. DETC93, 14th Biennial Conference on Mechanical Vibration and Noise: Vibrations and Dynamics of Robotic and Multibody Structures, 69-78, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0145
https://doi.org/10.1115/DETC1993-0145
View Paper titled, An Isoparametric Four-Node Beam Element for the Analysis of Planar Robot Manipulators
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Topics: Manipulators, Dampers, Damping, Deflection, Deformation, Dynamic models, Dynamic response, Equilibrium (Physics), Finite element model, Flexible manipulators
Proceedings Papers

Vibration and Control of the Flexible Manipulator

Chuntien Yeh
Proc. ASME. CIE93, 13th Computers in Engineering Conference, 455-461, August 8–12, 1993
Publisher: American Society of Mechanical Engineers
Paper No: CIE1993-0054
https://doi.org/10.1115/CIE1993-0054
View Paper titled, Vibration and Control of the Flexible Manipulator
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Topics: Flexible manipulators, Vibration, Manipulators, Algorithms, Computer-aided engineering, Control algorithms, Control equipment, Control systems, Feedback, Trajectories (Physics)
Proceedings Papers

Comparison of Linear and Nonlinear Control on a Distributed Parameter System

Ralph W. Rietz, Daniel J. Inman
Proc. ASME. DETC93, 14th Biennial Conference on Mechanical Vibration and Noise: Vibration and Control of Mechanical Systems, 43-49, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0219
https://doi.org/10.1115/DETC1993-0219
View Paper titled, Comparison of Linear and Nonlinear Control on a Distributed Parameter System
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Topics: Computer simulation, Control equipment, Distributed parameter systems, Feedback, Flexible manipulators, Position control
Proceedings Papers

Identification for Manipulators With Joint Compliances and Link Deflections

Cheng Y. Lin, Meng-Sang Chew, Louis J. Everett, Jer-Nan Juang
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 205-212, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0324
https://doi.org/10.1115/DETC1994-0324
View Paper titled, Identification for Manipulators With Joint Compliances and Link Deflections
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Topics: Deflection, Manipulators, Algorithms, End effectors, Flexible manipulators, Gravity (Force), Kinematics, Robots, Simulation
Proceedings Papers

Experimental Verification of Time-Varying Impulse Shaping for a Two-Link Flexible Manipulator

Jung-Keun Cho, Youn-sik Park
Proc. ASME. DETC95, Volume 3C: 15th Biennial Conference on Mechanical Vibration and Noise — Vibration Control, Analysis, and Identification, 529-536, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0613
https://doi.org/10.1115/DETC1995-0613
View Paper titled, Experimental Verification of Time-Varying Impulse Shaping for a Two-Link Flexible Manipulator
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Topics: Flexible manipulators, Impulse (Physics), Vibration, Dynamic models, Flexible systems, Gravity (Force), Time-varying systems
Proceedings Papers

Active Residual Vibration Control for Flexible Robot Manipulator Systems

Zhang Xianmin, Song Li, Liu Jike
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A002, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5861
https://doi.org/10.1115/DETC98/MECH-5861
View Paper titled, Active Residual Vibration Control for Flexible Robot Manipulator Systems
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Topics: Manipulators, Vibration control, Computational methods, Control theory, Dynamics (Mechanics), Finite element methods, Flexible manipulators, Optimal control, Piezoelectric actuators, Robust control
Proceedings Papers

A Novel Approach for Decoupling of Dynamical Equations of Flexible Manipulators

Ali Meghdari, Farbod Fahimi
Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 239-246, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8556
https://doi.org/10.1115/DETC99/DAC-8556
View Paper titled, A Novel Approach for Decoupling of Dynamical Equations of Flexible Manipulators
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Topics: Flexible manipulators, Equations of motion, Multibody systems, Degrees of freedom, Dynamics (Mechanics), Simulation
Proceedings Papers

Frequency Domain Structural Optimization of a Flexible Manipulator Incorporating a PD Controller in the Design Stage

Yong Hoon Chang, Ali Seireg
Proc. ASME. DETC99, Volume 7A: 17th Biennial Conference on Mechanical Vibration and Noise, 469-486, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/VIB-8221
https://doi.org/10.1115/DETC99/VIB-8221
View Paper titled, Frequency Domain Structural Optimization of a Flexible Manipulator Incorporating a PD Controller in the Design Stage
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Topics: Control equipment, Design, Flexible manipulators, Structural optimization, Optimization, Stiffness, Manipulators, Robots, Structural design
Proceedings Papers

Efficient Dynamic Simulation of Flexible Link Manipulators With PID Control

Ronald G. K. M. Arts, J. B. Jonker
Proc. ASME. IDETC-CIE2001, Volume 6C: 18th Biennial Conference on Mechanical Vibration and Noise, 2683-2690, September 9–12, 2001
Publisher: American Society of Mechanical Engineers
Paper No: DETC2001/VIB-21615
https://doi.org/10.1115/DETC2001/VIB-21615
View Paper titled, Efficient Dynamic Simulation of Flexible Link Manipulators With PID Control
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Topics: Manipulators, Simulation, Modal analysis, Control systems, Degrees of freedom, Flexible manipulators, Trajectories (Physics)
Proceedings Papers

Open-Loop Control of a Flexible Manipulator With Two Links: Experimental Results

G. Mimmi, L. Frosini, P. Pennacchi, C. Rottenbacher
Proc. ASME. IDETC-CIE2001, Volume 6B: 18th Biennial Conference on Mechanical Vibration and Noise, 1969-1977, September 9–12, 2001
Publisher: American Society of Mechanical Engineers
Paper No: DETC2001/VIB-21533
https://doi.org/10.1115/DETC2001/VIB-21533
View Paper titled, Open-Loop Control of a Flexible Manipulator With Two Links: Experimental Results
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Topics: Flexible manipulators, Vibration
Proceedings Papers

Analysis of a Multibody Elastodynamic Model for Closed-Loop Kinematic Mechanisms

Luca Carbonari, Stefano Brillarelli, Matteo-Claudio Palpacelli, Massimo Callegari
Proc. ASME. IDETC-CIE2019, Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, V009T12A005, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97901
https://doi.org/10.1115/DETC2019-97901
View Paper titled, Analysis of a Multibody Elastodynamic Model for Closed-Loop Kinematic Mechanisms
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Topics: Kinematics, Kinematic chains, Algorithms, Computation, Computer software, Flexible manipulators, Machinery, Mechanical structures, Multibody systems, Real-time control
Proceedings Papers

Pedal Actuator of Driver Robot Based on Flexible Manipulator

Liangyao Yu, Sheng Zheng, Jinghu Chang, Xiaoxue Liu
Proc. ASME. IDETC-CIE2017, Volume 3: 19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices, V003T01A004, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68100
https://doi.org/10.1115/DETC2017-68100
View Paper titled, Pedal Actuator of Driver Robot Based on Flexible Manipulator
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Topics: Actuators, Flexible manipulators, Robots, Kinematics, Testing, End effectors, Manipulators, Prisms (Optics), Shells, Universal joints
Proceedings Papers

Comparison of Control Methods for Two-Link Planar Flexible Manipulator

Joseph Bowkett, Rudranarayan Mukherjee
Proc. ASME. IDETC-CIE2017, Volume 6: 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A027, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67937
https://doi.org/10.1115/DETC2017-67937
View Paper titled, Comparison of Control Methods for Two-Link Planar Flexible Manipulator
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Topics: Aerospace industry, Control equipment, Dynamics (Mechanics), End effectors, Engineering simulation, Feedback, Flexible manipulators, Kinematics, Manipulators, Manufacturing
Proceedings Papers

Multimode Input Shaping Control of Flexible Structures Using Frequency Modulation

Ziyad N. Masoud, Khaled A. Alhazza, Mohammad A. Nazzal
Proc. ASME. IDETC-CIE2016, Volume 8: 28th Conference on Mechanical Vibration and Noise, V008T10A051, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59537
https://doi.org/10.1115/DETC2016-59537
View Paper titled, Multimode Input Shaping Control of Flexible Structures Using Frequency Modulation
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Topics: Actuators, Computer simulation, Energy consumption, Feedback, Flexible manipulators, Flexible structures, Manipulators, Robotics, Vibration
Proceedings Papers

A Variable Stiffness Joint by Granular Jamming

Allen Jiang, Asghar Ataollahi, Kaspar Althoefer, Prokar Dasgupta, Thrishantha Nanayakkara
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 267-275, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70670
https://doi.org/10.1115/DETC2012-70670
View Paper titled, A Variable Stiffness Joint by Granular Jamming
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Topics: Stiffness, Manipulators, Robots, Vacuum, Biomedicine, Degrees of freedom, Engines, Flexible manipulators, Membranes, Motors
Proceedings Papers

On the Accuracy of Assumed Mode Modeling for Flexible Manipulators

F. Heidari, M. Vakil, R. Fotouhi
Proc. ASME. IDETC-CIE2011, Volume 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A and B, 953-962, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47967
https://doi.org/10.1115/DETC2011-47967
View Paper titled, On the Accuracy of Assumed Mode Modeling for Flexible Manipulators
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Topics: Flexible manipulators, Manipulators, Modeling, Mode shapes, Approximation, Control equipment, Control modeling, Degrees of freedom, Displacement, Dynamic models
Proceedings Papers

Real-Time Vibration Suppression and Composite Adaptive Control of Coordinated Motion for Space Flexible Manipulator

Zhaobin Hong, Chen Li
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1509-1514, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28378
https://doi.org/10.1115/DETC2010-28378
View Paper titled, Real-Time Vibration Suppression and Composite Adaptive Control of Coordinated Motion for Space Flexible Manipulator
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Topics: Adaptive control, Composite materials, Flexible manipulators, Vibration suppression, Computer simulation, Control equipment, Dynamics (Mechanics), Equations of motion, System dynamics, Trajectories (Physics)