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In this paper, a single-link flexible joint robot is designed, fabricated and controlled. Three different fuzzy logic controllers (FLCs) were used to remove link vibrations and to obtain accurate trajectory tracking of link end-point. The input variables of the first and the second FLCs are motor rotation angle error and its derivative, and end-effector deflection error and derivative of deflection...
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite collocated proportional-derivative (PD) and Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator respectively...
The cooperative variation of lengths of the six long cables pulls the feed cabin to track some radio source with six-DOF. Similar to a parallel manipulator, the cable-cabin flexible structure for the new generation large spherical radio telescope is viewed as a cable-supported parallel manipulator (CPM). Due to the inherent characteristics of nonlinearity, large delay and multivariable coupled flexible...
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