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Research Papers: Modeling

Fractional Dynamics in Mechanical Manipulation

[+] Author and Article Information
Miguel F. Lima

Department of Electrical Engineering, Superior School of Technology,  Polytechnic Institute of Viseu, 3504-510 Viseu, Portugallima@mail.estv.ipv.pt

J. A. Machado

Department of Electrical Engineering,  Institute of Engineering, Polytechnic Institute of Porto, 4200-072 Porto, Portugaljtm@isep.ipp.pt

Manuel Crisóstomo

Institute of Systems and Robotics, Department of Electrical and Computer Engineering,  University of Coimbra, Polo II, 3030-290 Coimbra, Portugalmcris@isr.uc.pt

J. Comput. Nonlinear Dynam 3(2), 021203 (Feb 04, 2008) (9 pages) doi:10.1115/1.2833488 History: Received June 06, 2007; Revised August 22, 2007; Published February 04, 2008

This paper analyzes the signals captured during the movement of a mechanical manipulator carrying a liquid container. In order to study the signals, an experimental setup is implemented. The system acquires data from the sensors, in real time, and, in a second phase, processes them through an analysis package. The analysis package runs offline and handles the recorded data. The results show that the Fourier spectrum of several signals presents a fractional behavior. The experimental study provides useful information that can assist in the design of a control system to be used in reducing or eliminating the effect of vibrations.

Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Block diagram of hardware architecture

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Figure 2

Spherical container with liquid

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Figure 3

Electrical currents of robot axis motors for the trapezoidal profile

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Figure 4

Robot axis positions for the trapezoidal profile

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Figure 5

Forces at the gripper sensor for the trapezoidal profile

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Figure 6

Moments at the gripper sensor for the trapezoidal profile

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Figure 7

Container and terminal robot link accelerations for the trapezoidal profile

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Figure 8

Electrical currents of robot axis motors for the parabolic profile

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Figure 9

Robot axis positions for the parabolic profile

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Figure 10

Forces at the gripper sensor for the parabolic profile

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Figure 11

Moments at the gripper sensor for the parabolic profile

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Figure 12

Container and terminal robot link accelerations for the parabolic profile

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Figure 13

Spectrum of the axis 1 position for the trapezoidal profile

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Figure 14

Spectrum of the axis 3 position for the trapezoidal profile

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Figure 15

Spectrum of the axis 3 motor current for the trapezoidal profile

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Figure 16

Spectrum of the Fx force for the trapezoidal profile

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Figure 17

Spectrum of the Fy force for the trapezoidal profile

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Figure 18

Spectrum of the Mz moment for the trapezoidal profile

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Figure 19

Acceleration spectrum of the container for the trapezoidal profile

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Figure 20

WFT of the axis 3 motor current for the trapezoidal profile

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Figure 21

WFT of the Fy force for the trapezoidal profile of Case (i)

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Figure 22

WFT of the Fy force for the trapezoidal profile of Case (iii)

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