Dynamic Stability Control and Calculating Inverse Dynamics of a Single-link Flexible Manipulator

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ISSN: 2278-0149 (Online)
Abbreviated Title: Int. J. Mech. Eng. Robot. Res.
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DOI: 10.18178/ijmerr
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Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.

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Home > Published Issues > 2023 > Volume 12, No. 4, July 2023 >

IJMERR 2023 Vol.12(4): 200-209
DOI: 10.18178/ijmerr.12.4.200-209

Nguyen Van Quyen 1, Bui Thi Hai Linh 2, Duong Quoc Tuan 3, Nguyen Trung Thanh 3, and Nguyen Hong Quang 3*

1. Hanoi University of Science and Technology, Hanoi, Vietnam
2. Faculty of Electrical Engineering, Thai Nguyen University of Technology, Thai Nguyen City, Vietnam
3. Faculty of Mechanical, Electrical, Electronics Technology, Thai Nguyen University of Technology, Thai Nguyen City, Vietnam
*Correspondence: quang.nguyenhong@tnut.edu.vn (N.H.Q.)

Manuscript received August 6, 2022; revised October 13, 2022; accepted January 24, 2023.

Abstract—When a robot manipulator operates at high speeds, the elastic vibration of its links is inevitable. To study this vibration phenomenon, the present paper deals with the problem of modelling, the dynamic stability control and calculating inverse dynamics of a single-link flexible manipulator. An algorithm to study dynamic stability and calculate inverse dynamics of flexible manipulators is proposed. The proposed algorithm is demonstrated and verified by the model of a flexible single-link manipulator. Through numerical simulation, the efficiency and usefulness of the proposed algorithm were demonstrated as well.

Keywords—flexible manipulator, linearization, Taguchi method, dynamic stability, periodic system

Cite: Nguyen Van Quyen, Bui Thi Hai Linh, Duong Quoc Tuan, Nguyen Trung Thanh, and Nguyen Hong Quang, "Dynamic Stability Control and Calculating Inverse Dynamics of a Single-link Flexible Manipulator," International Journal of Mechanical Engineering and Robotics Research, Vol. 12, No. 4, pp. 200-209, July 2023.

Copyright © 2023 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.