Dynamics and Control of Flexible Link Manipulator With Intermediate-Payload (Record no. 14761)

MARC details
000 -LEADER
fixed length control field 02081nam a22001697a 4500
082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER
Classification number 629.831
Item number Si64D
100 ## - MAIN ENTRY--AUTHOR NAME
Personal name Singh, Akhil Pratap
245 ## - TITLE STATEMENT
Title Dynamics and Control of Flexible Link Manipulator With Intermediate-Payload
Statement of responsibility, etc by Akhil Pratap Singh
260 ## - PUBLICATION, DISTRIBUTION, ETC. (IMPRINT)
Place of publication IIT Jodhpur
Name of publisher Department of Mechanical Engineering
Year of publication 2020
300 ## - PHYSICAL DESCRIPTION
Number of Pages xvi,49p.
Other physical details HB
520 ## - SUMMARY, ETC.
Summary, etc Industrial robot manipulators are the machines that are used to increase productivity, product quality, reduce cost and elimination of hazardous and unpleasant work. Flexible link manipulators are the future of robotic industry due to many advantages over rigid link manipulator. It has lower energy consumption, higher payload to manipulator weight ratio, high speed in operation, small actuators use to move manipulators arm and safer in operation due to low inertia of the arm. These benefits come at the cost of flexibility of manipulator arm that increases vibration of end tip.This thesis is focused systematic approach for dynamic modelling and control of tip position of flexible link manipulator with intermediate-payload which rotates in horizontal plane. In dynamic formulation, Lagrangian equation is used to obtain equation of motion of the system based on Euler Bernoulli‟s beam theory. Assumed mode method (AMM) is used to discretize distributed system. There is state space method is used to solve equation of motion and results for tip deflection illustrated graphically. There is computed-torque control method based PID controller is used to control end point trajectory and supress the tip vibration.There is effect of various critical parameters on the modal parameters and tip of manipulator is simulated. There is different input signal is given as reference trajectory to PID controller and effectiveness of controller is obtained by ability to track trajectory.<br/>
650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM
Topical Term Flexible Link Manipulator With Intermediate-Payload
Topical Term MTech Theses
Topical Term Department of Mechanical Engineering
700 ## - ADDED ENTRY--PERSONAL NAME
Personal name Pratiher, Barun
942 ## - ADDED ENTRY ELEMENTS (KOHA)
Koha item type Thesis
Holdings
Withdrawn status Lost status Damaged status Not for loan Collection code Permanent Location Current Location Shelving location Date acquired Full call number Accession Number Price effective from Koha item type
      Not For Loan Reference S. R. Ranganathan Learning Hub S. R. Ranganathan Learning Hub Course Reserve 2024-02-02 629.831 Si64D TM00176 2024-02-02 Thesis