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Finite Element Euler-Lagrange Dynamic Modeling and Passivity Based Control of Flexible Link Robot

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Proceedings of the International Conference on Artificial Intelligence and Computer Vision (AICV2021) (AICV 2021)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1377))

Abstract

In this paper, a novel passivity-based controller for flexible links robotic mechanisms is proposed. Something that is a substantial contribution to the field is that the dynamic model of two degrees of robotic freedom mechanism is proposed considering, that in this case, a suitable shaping function is implemented in FEM derivations. Along with the Euler-Lagrange method, the two-links robot’s dynamic model is obtained considering the transformation matrices’ with appropriate derivations to obtain the robot’s kinematic angular velocity vectors to get the desired dynamic model. It is essential to consider that the joints’ rotating angles are calculated appropriately by obtaining the node vectors of the FEM derivations when a flexion occurs on each link of the robotic manipulator and obtaining the node vectors about the original coordinate axis. A passivity-based controller is then designed to drive the joint angles and joint velocities to the equilibrium in finite time. Thus, due to the energy considerations of the proposed passivity-based controller, the system’s energy dissipation is ensured.

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Author information

Authors and Affiliations

  1. College of Computer and Information Sciences, Prince Sultan University, Riyadh, Saudi Arabia

    Ahmad Taher Azar, Anis Koubaa & Adel Ammar

  2. Faculty of Computers and Artificial Intelligence, Benha University, Banha, Egypt

    Ahmad Taher Azar

  3. Collaborator with Robotics and Internet-of-Things Lab (RIOTU), Prince Sultan University, Riyadh, Saudi Arabia

    Fernando E. Serrano

  4. International Group of Control Systems (IGCS), Cairo, Egypt

    Fernando E. Serrano

  5. Faculty of Engineering, Cairo University, Giza, Egypt

    Nashwa Ahmad Kamal

  6. Department of Electrical Engineering, College of Engineering, University of Baghdad, Al-Jadriyah, Baghdad, 10001, Iraq

    Ibraheem Kasim Ibraheem

  7. Department of Control and Systems Engineering, University of Technology, Baghdad, 10001, Iraq

    Amjad J. Humaidi

Authors
  1. Ahmad Taher Azar
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  2. Fernando E. Serrano
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  3. Nashwa Ahmad Kamal
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  4. Anis Koubaa
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  5. Adel Ammar
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  6. Ibraheem Kasim Ibraheem
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  7. Amjad J. Humaidi
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Corresponding author

Correspondence to Ahmad Taher Azar .

Editor information

Editors and Affiliations

  1. Information Technology Department, Faculty of Computers and Artificial Intelligence, Cairo University, Giza, Egypt

    Aboul Ella Hassanien

  2. Faculty of Sciences and Techniques, Hassan 1st University, Settat, Morocco

    Abdelkrim Haqiq

  3. School of Medicine, University of Missouri, Columbia, MO, USA

    Peter J. Tonellato

  4. ISAE-ENSMA, Futuroscope Chasseneuil Cedex, France

    Ladjel Bellatreche

  5. British University Vietnam, Hung Yen, Vietnam

    Sam Goundar

  6. Faculty of Computers and Artificial Intelligence, Benha University, Benha, Egypt

    Ahmad Taher Azar

  7. NEST Research Group, ENSEM, Hassan II University of Casablanca, Casablanca, Morocco

    Essaid Sabir

  8. High National School for Computer Science and Systems Analysis (ENSIAS), Mohammed V University, Rabat, Morocco

    Driss Bouzidi

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Azar, A.T. et al. (2021). Finite Element Euler-Lagrange Dynamic Modeling and Passivity Based Control of Flexible Link Robot. In: Hassanien, A.E., et al. Proceedings of the International Conference on Artificial Intelligence and Computer Vision (AICV2021). AICV 2021. Advances in Intelligent Systems and Computing, vol 1377. Springer, Cham. https://doi.org/10.1007/978-3-030-76346-6_41

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