Smooth motion profile for trajectory planning of a flexible manipulator

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksThis paper deals with the problem of trajectory generation with a motion law in joint space for a flexible singlelink manipulator. To this aim, we propose a smooth motion profile based on polynomial function for a flexible manipulator. This motion law is tested with a dynamic model of the manipulator that is controlled using a model-free approach so that the robot can follow the desired trajectory.Peer ReviewedPostprint (author's final draft

On the dynamic modelling and simulation of rigidflexible manipulator robot using several inputs

© 2017 IEEE. Personal use of this ma terial is permitted. Permission from IEEE must be obtained for al l other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, f or resale or redistribution to se rvers or lists, or reuse of any copyrighted compone nt of this work in other worksThe purpose of this paper is to develop a dynamic model of a rigid-flexible manipulator robot with a load on its endpoint using Euler-Lagrange formulation. In order to test the performance of the studied system, several mathematical functions are used as motion profile. It choice is very important because it affects the robot’s performance. Different factors intervene in this choice. However, the most important is the torque’s continuity and the movement’s smoothness. Numerical simulations show the robustness of the dynamic model of the studied system for several motions profiles.Peer ReviewedPostprint (author's final draft

Optimization of tilt angle for solar panel: Case study Tunisia

This paper is a comparisation study between an experimental data and Matlab simulation of output PV characteristic affected by the orientation and the tilt angle of a photovoltaic solar module with inclined plane and by the dimension of the panel. The PV panel was rotated towards the east, south and west and positioned for the angles 0°, 30°, 45°, 60° and 90°. In this position, the values of current, voltage and power are measured. In the other side, using the mathematical model to calculate the solar radiation incident on an inclined surface as a function of the tilt angle was developed in MATLAB/SIMULINK model. The optimum angles were determined as positions in which maximum values of solar irradiation and maximum power were registered to characterize the P-V and V-I photovoltaic panel

On the dynamic modelling and simulation of rigidflexible manipulator robot using several inputs

© 2017 IEEE. Personal use of this ma terial is permitted. Permission from IEEE must be obtained for al l other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, f or resale or redistribution to se rvers or lists, or reuse of any copyrighted compone nt of this work in other worksThe purpose of this paper is to develop a dynamic model of a rigid-flexible manipulator robot with a load on its endpoint using Euler-Lagrange formulation. In order to test the performance of the studied system, several mathematical functions are used as motion profile. It choice is very important because it affects the robot’s performance. Different factors intervene in this choice. However, the most important is the torque’s continuity and the movement’s smoothness. Numerical simulations show the robustness of the dynamic model of the studied system for several motions profiles.Peer Reviewe

Smooth motion profile for trajectory planning of a flexible manipulator

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksThis paper deals with the problem of trajectory generation with a motion law in joint space for a flexible singlelink manipulator. To this aim, we propose a smooth motion profile based on polynomial function for a flexible manipulator. This motion law is tested with a dynamic model of the manipulator that is controlled using a model-free approach so that the robot can follow the desired trajectory.Peer Reviewe

Smooth motion profile for trajectory planning of a flexible manipulator

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksThis paper deals with the problem of trajectory generation with a motion law in joint space for a flexible singlelink manipulator. To this aim, we propose a smooth motion profile based on polynomial function for a flexible manipulator. This motion law is tested with a dynamic model of the manipulator that is controlled using a model-free approach so that the robot can follow the desired trajectory.Peer Reviewe