Modeling and experimental identification of a one-link flexible manipulator [Modelado e identificacion experimental de un manipulador robotico con una union flexible]

Abstract

Modeling of a robotic manipulator composed of a single flexible joint is presented. The system included a flexible aluminum beam joined by the base to a rotationally inert rigid cube. A potentiometric sensor and tachometer indicated the position and angular velocity of the rigid body. An extensometric bridge-type deformation sensor and a piezoelectric accelerometer were used to measure elastic deformations in the structure, as well as its different degrees of vibrational freedom. A Lagrangian method was used to model the system applying the extended Hamilton principle to obtain equations for the movement of the beam and its environmental conditions. Discretization of the system was carried out using the `Assumed Modes' method, considering the three primary vibrational modes of the beam. The model proved to be representative of the actual dynamical system.