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The multiple impedance control (MIC) enforces a designated impedance on all cooperating manipulators, and the manipulated object itself. A redundant manipulator exploits more degrees of freedom than those required to achieve the desired position and orientation of the end-effector. In this paper, the MIC law is extended to control cooperative redundant manipulators in the presence of impacts due to...
Polymers labeled as EAPs (electro-active polymer) have a mechanical response to electrical stimulation and produce an electric change in response to mechanical stimulation. The high strains of ionic polymer metal composite (IPMC) make them attractive as mechanical actuators for applications requiring large motion but little force. This paper describes the results an application of IPMC as active damper...
In this paper, a new approach to solve the inverse kinematics of a flexible macro-micro manipulator system is proposed. The macro-micro manipulator system consists of a macro flexible manipulator, and a micro rigid manipulator which is used to compensate for the errors at the tip of the system. Apparently, such a macro-micro system is a redundant system, of which the inverse kinematics remains challenging,...
A cloud model-based controller which needs no mathematical models of plant is presented in this paper for the trajectory tracking control of a flexible-link manipulator with poorly known dynamics. Based on the singular perturbation method and the time-scale decomposition, the flexible-link manipulator model is decomposed into a slow subsystem of an equivalent rigid-link manipulator and a fast subsystem...
Achieving suitable performance in end-tip trajectory tracking while saving suitable margin of stability for flexible-arm system in presence of large model uncertainties is a very complicated task, because moving new output toward the end-tip, while using output-redefinition method, in order to increase tracking quality decreases system's margin of stability. So large model uncertainties or large controller...
In this paper an effort has been made to actively attenuate the vibration of a single link planar flexible manipulator with rotary joints using a combination of ferro-magnetic alloys/polyethylene-polyethylene glycol and terfenol-D as smart nano-composite. Such materials can be used as intelligent distributed layers over the link to introduce distributed control of vibration. The method utilizes the...
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