A Case Study: Modeling of A Passive Flexible Link on A Floating Platform for Intervention Tasks

Wang, T; Lu, W; Liu, D

A Case Study: Modeling of A Passive Flexible Link on A Floating Platform for Intervention Tasks

Wang, T

Lu, W Liu, D

Permalink

Publication Type:: Conference Proceeding
Citation:: Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2019, 2018-July pp. 187 - 193
Issue Date:: 2019-01-30

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download Accepted Manuscript versionAdobe PDF (1.23 MB)

View on publisher's site

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Wang, T https://orcid.org/0000-0003-0983-2295	en_US
dc.contributor.author	Lu, W	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.available	2020-07-04T19:04:43Z
dc.date.issued	2019-01-30	en_US
dc.identifier.citation	Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2019, 2018-July pp. 187 - 193	en_US
dc.identifier.isbn	9781538673454	en_US
dc.identifier.uri	http://hdl.handle.net/10453/128999
dc.description.abstract	© 2018 IEEE. This paper focuses on modeling of a robotic system consisting of a floating platform and a passive flexible-link, which is subjected to three-dimensional large bending deformation during intervention tasks. It investigates the feasibility and efficacy of the quasi-Lagrangian approach and the Euler-Bernoulli beam assumption in modeling this system. Simulations and experiments were conducted to evaluate the model. Then the contact force was calculated with given external input force along with the pose and velocities of the robot, which is validated by the measurements obtained from force-torque sensors. It also found that the accelerations calculated from the model have some deviation from the results obtained from a tracking system.	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP150100935
dc.relation.ispartof	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)	en_US
dc.relation.isbasedon	10.1109/WCICA.2018.8630398	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	A Case Study: Modeling of A Passive Flexible Link on A Floating Platform for Intervention Tasks	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2018-July	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	2018-July	en_US

Abstract:

© 2018 IEEE. This paper focuses on modeling of a robotic system consisting of a floating platform and a passive flexible-link, which is subjected to three-dimensional large bending deformation during intervention tasks. It investigates the feasibility and efficacy of the quasi-Lagrangian approach and the Euler-Bernoulli beam assumption in modeling this system. Simulations and experiments were conducted to evaluate the model. Then the contact force was calculated with given external input force along with the pose and velocities of the robot, which is validated by the measurements obtained from force-torque sensors. It also found that the accelerations calculated from the model have some deviation from the results obtained from a tracking system.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/128999