Comparison of Simulation of Contact Force Control of Flexible Manipulator Using Bernoulli-Euler theory and Timoshenko theory | Zendy

Minoru Sasaki | Zendy; T. Kuwabara | Zendy; Waweru Njeri | Zendy; Kojiro Matsushita | Zendy; Harrison Ngetha | Zendy

Open Access

Comparison of Simulation of Contact Force Control of Flexible Manipulator Using Bernoulli-Euler theory and Timoshenko theory

Author(s) -

Minoru Sasaki,

T. Kuwabara,

Waweru Njeri,

Kojiro Matsushita,

Harrison Ngetha

Publication year - 2019

Publication title -

journal of applied science engineering and technology for development

Language(s) - English

Resource type - Journals

ISSN - 2309-0936

DOI - 10.33803/jasetd.2017.3-2.2

Subject(s) - timoshenko beam theory , inertia , control theory (sociology) , moment of inertia , beam (structure) , rotary inertia , contact force , robot , classical mechanics , shear force , bernoulli's principle , mechanics , computer science , structural engineering , physics , control (management) , engineering , artificial intelligence , aerospace engineering

Industrial robots are expected to be used in circumstances where they can be directly touched by humans like the welfare robot which assists the elderly in the society. Considering the nature of this application in terms of safety, the control of the contact force becomes a requirement along with the conventional control of position. In this article, simulation of the contact force control of a flexible manipulator to investigate the influence of shear deformation and rotational inertia, which varies depending on the sectional shape of a beam, on the result between the Bernoulli-Euler beam theory and Timoshenko beam theory. Comparisons are presented without considering shear deformation and rotational inertia and considering its effectiveness.

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