Zobrazeno 1 - 10
of 178
pro vyhledávání: '"Peter N. Nikiforuk"'
Publikováno v:
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 226:2627-2644
The assumed mode shape method has been widely used to derive finite degree-of-freedom dynamic models for flexible-link manipulators, which theoretically have infinite degree-of-freedom dynamics. For a single flexible manipulator, this approximation c
Publikováno v:
International Journal of Systems Science. 42:2057-2069
A new controller for the end-effector trajectory tracking of a single flexible link manipulator is introduced. The linear dynamic model of the single flexible link manipulator is expressed in the singularly perturbed form. To reduce the end-effector
Publikováno v:
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 225:1361-1371
In this article, explicit expressions for the frequency equation, mode shapes, and orthogonality of the mode shapes of a Single Flexible-link Flexible-joint manipulator (SFF) are presented. These explicit expressions are derived in terms of non-dimen
Publikováno v:
Mechatronics. 21:614-624
In this paper a new open-loop (off-line) identification approach to determine the friction parameters in the joints of robotic manipulators is presented. These friction parameters are the Coulomb friction, Static friction, Stribeck velocity constant
Publikováno v:
Journal of Aircraft. 48:56-65
The purpose of an aircraft takeoff performancemonitoring system is to provide to the pilot information pertaining to the level of safety with which a takeoff is proceeding. The concept of a takeoff performance monitoring system is not new. Instrument
Publikováno v:
Journal of Vibration and Control. 17:55-68
A new controller for the end-effector trajectory tracking (EETT) of a class of flexible link manipulators which consists of a chain of rigid links with a flexible end-link (CRFE) is introduced. To design this new controller, a dynamic model of the CR
Publikováno v:
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 224:2083-2096
In this article, a study of the zeros of the transfer function, between the base torque and the end-effector displacement, for flexible link manipulators is performed. The analysis is carried out on a single flexible link manipulator with the initial
Publikováno v:
Advanced Robotics. 24:2059-2086
A new control strategy for flexible-joint manipulators with joint friction is proposed. The proposed controller includes two main components: a friction compensating torque, and a composite controller torque to compensate for the friction in the join
Publikováno v:
Transactions of the Canadian Society for Mechanical Engineering. 33:759-780
There is much research on the poles of the transfer function (between the beam-end displacement and base torque) of slewing single-flexible beams. However, there is no comprehensive report on their...
Publikováno v:
International Journal of Non-Linear Mechanics. 44:831-844
In this paper a new controller for the end-effector trajectory tracking (EETT) of multilink flexible manipulators (MLFM) is introduced. The new controller is derived utilizing the concept of the integral manifold of the singularly perturbed different