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In this paper, geometric nonlinearity of a flexible link is considered for dynamic modeling of free-floating space manipulators. The system dynamics is derived by Lagrange theorem in conjunction with the assumed modes method. By reducing some parameters, dynamic equations of small deflection is obtained for control system design. For position control design, modified partial feedback linearization...
Redundant manipulator control usually brings about a lot of complexity. This paper proposes a quite simple approach for concurrent set-point regulation of position and orientation of a redundant manipulator using the virtual spring-damper hypothesis, which offers human-like movements without solving the inverse dynamics. For orientation, quaternion representation is applied to give singularity-free...
In this paper, design of an adaptive neural network based interval type-2 fuzzy logic controller (ANNIT2FL), circular and handwriting type trajectory planning are proposed to show ability of a 3-DOF( Degree of Freedom ) Scara type robot manipulator. The kinematic and the dynamic equations are used to obtain equations of motion of robot manipulator and three different rise functions are chosen for...
In this paper, a new approach to identify the parameters of robot manipulator dynamics is presented. The approach is based on exciting the robot manipulator with multiple identification trajectories that pass through the operating point with specific speeds and accelerations. The position, velocity and acceleration of the robot joints along with the corresponding torque at the operating point are...
In order to improve the actual tracking accuracy of a planar parallel manipulator with redundant actuation, a new adaptive compensation of dynamics and friction is developed. Firstly, the dynamic model is established in the task space for the parallel manipulator, and a linear parametrization expression with respect to the model parameters is formulated. Then, based on the dynamic model, a new adaptive...
In this paper we presents two new 0-flat normal forms. It deals with sufficient geometrical conditions which enable us to conclude if a given nonlinear controllable dynamical system can be transformed, by means of change of coordinates, to one of these normal forms. In the same way it gives an algorithm to compute the flat outputs. As an illustration to the proposed approach, a trajectory tracking...
A new simpler vision based robot control system is proposed characterized which position specific artificial neural network (ANN) and end-effecter integrated camera system. Position specific ANN avoids the difficulty of covering the whole joint space with changing parameters using one set of ANN, and end-effecter integrated camera system makes the image of an object consistent when the end-effecter...
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 Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type...
This paper presents modeling and nonlinear controller design of a 4-axis manipulator arm driven by pneumatic muscle actuators. This arm, named AirArm, was developed within a research project of Festo's Bionic Learning Network. Since each joint is actuated by two pneumatic muscles, not only the joint position but also its mechanical compliance can be controlled directly. Experimental results show a...
Optimal trajectory planning for robot manipulators is a very important issue in the research field of robotics. Many applications require smooth trajectories and the minimization of a performance index, usually the traveling time or the mechanical energy of the actuators. This paper presents a novel method that uses eighth-degree polynomial functions to generate smooth trajectories for the parametric...
This paper presents a discrete-time decentralized control scheme for trajectory tracking of a five degrees of freedom (DOF) redundant robot. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The neural network learning is performed on-line by Kalman filtering. The controllers...
This article presents the experimental verification of kinematic and dynamic models of the PHANToM Premium 1.0 haptic device. Dynamic properties are evaluated, in order to apply nonlinear control techniques and evaluation of manipulability and energy in real-time. Position kinematics and differential kinematics are validated for the trajectory planning by using joint control techniques for local haptic...
The article presents the inverse dynamics model of a 6-Universal-Prismatic-Spherical (UPS) parallel mechanism and proposes the structure of a force controller for the execution of tasks characterized by interaction with the environment. The task space model of machine's dynamics is obtained in an efficient and compact form by means of the principle of virtual work. A simulation is shown that hybrid...
In order to solve the vibration during the process of transferring wafers and achieve the purpose of transferring wafers accurately and stably, the wafer transfer robot dynamic model was modelled and the strategy of vibration suppression based on input shaping was proposed. Based on the characteristics of wafer transfer robot, ZV input shaper and skewed shaper was designed to solve the single axis's...
Intelligent control of space manipulator with flexible-link and flexible-joint is discussed based on the singular perturbation method. Owing to the combined effects of the link and joint flexibilities, the dynamic model of this kind of manipulator becomes more complex and leads to a series of unsolved control system. To simplify the design of the control system, singular perturbation method is used...
A 3-DOF planar robotic arm is designed and used as a rehabilitation treatment tool for the survivor after suffering a stroke, aiming to assist them to recover upper-limb function. In order to strengthen the patient's arm, some forces are desired to be followed while the position trajectories should be tracked simultaneously, therefore hybrid impedance control (HIC) is proposed. Due to the redundancy...
In this paper a state feedback controller is designed for Rigid Link Electrically-Driven (RLED) manipulators actuated by a brushed DC (BDC) motors based on joint velocity estimation. The observer based controller is in fact a model based controller but it can be shown practically that the method is robust against parametric uncertainties. Initially pseudo-velocity filter is proposed to estimate the...
Conventional sliding mode controllers have been successfully applied to control various types systems including the Stewart platform manipulator. But chattering, lack of robustness in the reaching phase and sensitivity to unmatched uncertainty are the basic problems which delayed their practical implementations. To avoid the non robust reaching phase to compensate unmatched uncertainties, integral...
Based on Extended State Observer (ESO), a new robust control strategy with backstepping design for modular manipulators is brought forward in this paper. Firstly, considering the motor dynamics of the robot manipulator, the robot manipulator dynamics can be separated into two subsystems named as the robot joint subsystem and the motor subsystem. Then, a third-order and a second-order ESO are respectively...
We address the problem of designing decentralized laws to control a team of general fully actuated manipulators which synchronize their movements while following the same desired trajectory. To this effect we investigate an adaptive control of an identical multiple manipulators, with unknown inertia parameters, tracking a common trajectory. It is also assumed that all the robots in the synchronization...
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