An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control
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 ca...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
|
| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2017/3979384 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832566683369209856 |
|---|---|
| author | A. Notué Kadjie P. R. Nwagoum Tuwa Paul Woafo |
| author_facet | A. Notué Kadjie P. R. Nwagoum Tuwa Paul Woafo |
| author_sort | A. Notué Kadjie |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-6cba3d3a03414a8fa7cba6b0a8237c68 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-6cba3d3a03414a8fa7cba6b0a8237c682025-02-03T01:03:26ZengWileyShock and Vibration1070-96221875-92032017-01-01201710.1155/2017/39793843979384An Electromechanical Pendulum Robot Arm in Action: Dynamics and ControlA. Notué Kadjie0P. R. Nwagoum Tuwa1Paul Woafo2Laboratory of Modelling and Simulation in Engineering, Biomimetics and Prototypes, Department of Physics, Faculty of Science, University of Yaoundé I, P.O. Box 812, Yaoundé, CameroonLaboratory of Modelling and Simulation in Engineering, Biomimetics and Prototypes, Department of Physics, Faculty of Science, University of Yaoundé I, P.O. Box 812, Yaoundé, CameroonLaboratory of Modelling and Simulation in Engineering, Biomimetics and Prototypes, Department of Physics, Faculty of Science, University of Yaoundé I, P.O. Box 812, Yaoundé, CameroonThe 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.http://dx.doi.org/10.1155/2017/3979384 |
| spellingShingle | A. Notué Kadjie P. R. Nwagoum Tuwa Paul Woafo An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control Shock and Vibration |
| title | An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control |
| title_full | An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control |
| title_fullStr | An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control |
| title_full_unstemmed | An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control |
| title_short | An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control |
| title_sort | electromechanical pendulum robot arm in action dynamics and control |
| url | http://dx.doi.org/10.1155/2017/3979384 |
| work_keys_str_mv | AT anotuekadjie anelectromechanicalpendulumrobotarminactiondynamicsandcontrol AT prnwagoumtuwa anelectromechanicalpendulumrobotarminactiondynamicsandcontrol AT paulwoafo anelectromechanicalpendulumrobotarminactiondynamicsandcontrol AT anotuekadjie electromechanicalpendulumrobotarminactiondynamicsandcontrol AT prnwagoumtuwa electromechanicalpendulumrobotarminactiondynamicsandcontrol AT paulwoafo electromechanicalpendulumrobotarminactiondynamicsandcontrol |