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Based on the analysis of motion behaviors of animals, a new idea of controlling vibration of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and introduced to the topological structure of the flexible manipulator. By way of planning the independent local motion provided by the controllable local degrees of freedom, the end-effector deformation...
Dynamic effects are very important to improving the design of compliant mechanisms. An investigation on the dynamic characteristics of compliant mechanisms is presented. The dynamic model of compliant mechanisms is developed at first. The natural frequencies and modes, elastic motion response, sensitivity analysis, and strain response of compliant mechanisms are then studied based on the dynamic model...
In this paper, the adaptive neural network control scheme of coordinated motion between the basepsilas attitude and the armspsila joints of free-floating dual-arm space robot system with uncertain parameters is considered. The controller is developed based on the neural network modeling technique. It need neither linearly parameterize the dynamic equations of system, nor know any actual inertial parameters...
In this paper, an adaptive neural network control strategy is presented for motion/force control of a class of constrained mobile manipulators with unknown dynamics. The system is subject to both holonomic and nonholonomic constraints. The control law is developed based on a simplified dynamic model. The adaptive neural network controller is proposed to deal with the unmodelled dynamics in the system...
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