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Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint...
This paper presents a recent study on robotic control of a continuum manipulator. In view of nonlinear dynamic characteristics of its model, we propose a fuzzy logic controller that is designed based on state-feedback control of the system linearizations. First, a unified kinematic model and the Jacobi-ans are described. Then, we derive the state-space model form and linearize it at six operating...
Current robotic manipulation techniques for optical tweezers assume that the trapping stiffness of optical trap is constant and exactly known. In addition, the dynamic interaction between the cell and the manipulator of laser source is usually ignored in the analysis of the optical manipulation problem. In this paper, a control scheme is proposed for optical manipulation of biological cell with unknown...
Rotor flying manipulator (RFM) is a system composed of a rotorcraft and a manipulator. RFM possesses great potential applications and thus has got much concern of the researchers all over the world. However, controller design of the RFM is challenging because of the dynamical coupling between the rotorcraft and the manipulator perplexes the whole system model structure, so the flight performance of...
This paper presents synthetic checking controller for robot manipulator with flexible joints, dynamics of executive motors and affect of disturbance based on radial basic function (RBF) neural network. A control algorithm is synthesized basing on the combination of backsteppping and RBF neural network in order to approximate the unknown functions. Finally, simulation results of a manipulator robot...
The adaptive image-based trajectory tracking control problem of rigid-link electrically driven (RLED) robotic manipulators is addressed in this paper. A fixed camera configuration is considered and the camera intrinsic and extrinsic parameters are assumed to be unknown. Furthermore, the manipulator dynamic and motor dynamic parameters are assumed to be uncertain and the depths of feature points can...
The model based passivity controller has been proved to be an useful method to deal with the time delay problem in teleoperation systems. However, this method is optimal only when attaching the controller to a single degree of freedom master slave teleoperation system. In the present paper, an extension of the controller to a multi degree of freedom master slave system is presented. By composing an...
This paper presents a new performance metric for serial manipulators with velocity constraints on the chain. These systems arise in several different applications such as serial manipulators in the presence of obstacles and in robotics-assisted minimally invasive surgery. It is important to know how constraints on the chain affect the mobility of the end effector and we therefore present a reformulation...
The paper mainly validates that the dynamics characteristic of the free-floating space robot during space manipulator capturing the target satellite. The dynamics verification system adopts the hybrid simulation method, which combines the real ground hardware experiment and the software simulation. The hardware experiment component can acquire the joint driving torques, which are the inputs of the...
Nowadays, robotic systems make use of compliant joint actuation to provide safe human-robot physical interactions, and in general, to improve the friendliness of the mechanism. However, note that with the introduction of these passive flexible elements, the actuators (which input the control actions) can not explicitly set the driving torque of the joints; for these types of systems, the difference...
Joints flexibility will lead to the vibration of the manipulator's end-effector, not only affecting the execution of the task but also creating the safety problems. In order to achieve high accuracy and stability control, it is required to study the vibration properties of flexible-joint manipulators. First, we create the dynamics and kinematics models and analyze the effect of the joints flexibility...
In order to solve the problems of complex calculation and uncontrolled accuracy in dynamic model of flexible manipulator, a new method of building dynamic model is proposed based on a new model with springs and rigid bodies. According to this method, manipulator is simplified as some rigid bodies connected by springs. So new dynamic model is built by Lagrange equation with added elastic energy which...
In this article, we establish a coordinate-free description of the kinematic and dynamic models of unfixed-base manipulator by using standard ideas from Lie group and Lie algebra. We use directly the exponential product formula to formulate the kinematic equation of an unfixed-base manipulator. In order to derive the dynamic equation of an unfixed-base manipulator, geometric variations, Riemannian...
7-Function underwater hydraulic manipulator can be mounted on underwater vehicles such as ROVs to achieve underwater operation. When the underwater vehicle is hovering in the sea, the target is in dynamic motion state compared to the vehicle position, which makes difficult for operators to accomplish dynamic operation task. Based on the underwater hydraulic manipulator structure characteristics, joint...
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