An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control
Joint Authors
Woafo, Paul
Notué Kadjie, A.
Nwagoum Tuwa, P. R.
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-12-05
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
The authors numerically investigate the dynamics and control of an electromechanical robot arm consisting of a pendulum coupled to an electrical circuit via an electromagnetic mechanism.
The analysis of the dynamical behavior of the electromechanical device powered by a sinusoidal power source is carried out when the effects of the loads on the arm are neglected.
It is found that the device exhibits period-n T oscillations and high amplitude oscillations when the electric current is at its smallest value.
The specific case which considers the effects of the impulsive contact force caused by an external load mass pushed by the arm is also studied.
It is found that the amplitude of the impulse force generates several behaviors such as jump of amplitude and distortions of the mechanical vibration and electrical signal.
For more efficient functioning of the device, both piezoelectric and adaptive backstepping controls are applied on the system.
It is found that the control strategies are able to mitigate the signal distortion and restore the dynamical behavior to its normal state or reduce the effects of perturbations such as a short time variation of one component or when the robot system is subject to noises.
American Psychological Association (APA)
Notué Kadjie, A.& Nwagoum Tuwa, P. R.& Woafo, Paul. 2017. An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control. Shock and Vibration،Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1204384
Modern Language Association (MLA)
Notué Kadjie, A.…[et al.]. An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control. Shock and Vibration No. 2017 (2017), pp.1-13.
https://search.emarefa.net/detail/BIM-1204384
American Medical Association (AMA)
Notué Kadjie, A.& Nwagoum Tuwa, P. R.& Woafo, Paul. An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control. Shock and Vibration. 2017. Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1204384
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1204384