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Viscoelastic joints with adjustable physical impedance have recently become very popular in robotics research. Making use of the energy stored in elastic elements and changing simultaneously their elastic properties, performance of these joints are shown to be substantially increased compared to their rigid counterparts of the same size. After our recent results on how to optimally alter a joint's...
Robot arms with intrinsically elastic joints became very popular over the last years. Considerable effort has been put into designing complex systems that are equipped with variable joint elasticity between motor and link. However, in contrast to the field of passively elastic locomotion, the control of elastic manipulators, where the elasticity is not considered to be a parasitic effect, is still...
This paper presents the manipulator with the new joint which can passively switch free state to drive state and vice versa. The manipulator with the free-state joint is categorized as a system subjected to a nonholonomic constraint; hence, its smooth feedback control cannot be implemented. In this paper, the issues on its control are clarified through the test with the experimental setup of the manipulator...
Control of underactuated manipulators is an attractive research theme in robotics. One of the reasons is that they become a complex system, so that they cannot be controlled by normal any control methods. These systems also include the properties of nonholonomic systems. One of control methods used for underactuated manipulators is known as a switching control, which selects a stable controller out...
A new variable structure control law based on the Lyapunov's seoond method that can be used in trajectory planning problems of robotic systems is developed. A modified approach to the formulation of the sliding domain equations in terms of tracking errors has been presented. This approach possesses three distinct advantages: i) it eliminates the reaching phase, ii) it provides means to predict the...
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