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首页> 外文会议>International Conference on Artificial Intelligence and Pattern Recognition >Finite Element versus Galerkin Approximation for Modeling and Control of a Class of Flexible Manipulators
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Finite Element versus Galerkin Approximation for Modeling and Control of a Class of Flexible Manipulators

机译：有限元与Galerkin逼近，用于施加和控制一类柔性操纵器

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Overhead cranes with flexible variable-length cables represent an important class of flexible manipulators. This paper considers a generalized mathematical model of such manipulators where a set of coupled highly non-linear hybrid integral and differential equations describe its motion. The considered model, where the time dependent spatial domain is considered as dependent variable, resulted in an accurate system representation. The continuous time dependent flexible cable manipulator system is approximated by using two methods, namely; a modified finite element method and a modified Galerkin method. To investigate the performance of each method, a proportional-derivative controller is used to drive the manipulator system into a desired location such that the payload swing is damped out. It is shown that the performance of the modified Galerkin method is generally better than that of the modified finite element method. However the modified Galerkin method exhibits more sluggish response of the swing angle at the beginning of the lowering.
机译：具有柔性可变长度电缆的顶部起重机代表了一类重要的灵活机械手。本文认为这种操纵器的广义数学模型，其中一组耦合高度非线性混合积分和微分方程描述其运动。被认为是时间相关的空间域被认为是依赖变量的考虑模型，导致了准确的系统表示。连续时间依赖性柔性电缆机械手系统通过使用两种方法来近似;一种改进的有限元方法和改进的Galerkin方法。为了研究每种方法的性能，使用比例衍生控制器用于将机械手系统驱动到所需位置，使得损失有效载荷摆动。结果表明，改进的Galerkin方法的性能通常优于改进的有限元方法的性能。然而，改进的Galerkin方法在降低开始时表现出挥杆角度的更缓慢的响应。

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