Modelling and control of a walking four link robot

Modelling and control of a two-link flexible robot manipulator

Over the last years, flexible structured manipulators have increased in popularity in aeronautical research because of their advantages compared to conventional rigid structures. Unfortunately, the flexibility of the structure has one big disadvantage; it causes undesired motions of the spacecraft. The flexibility of the structure generates structural vibrations that strongly interferes with ri...

Walking robot modelling aspects

The paper describes a walking robot leg modelling process. A six-legged walking robot — the so-called hexapod is concerned. Each leg consists of three links driven by Hitec HS475HB servo motors. The proposed model is used for testing leg kinematics and dynamics of the robot gait. One can examine a number of walking algorithms. The model includes: the identified description of the servo motors, ...

Modelling and Intelligent Control of an Elastic Link Robot Manipulator

In this paper, precise control of the end‐point position of a planar single‐link elastic manipulator robot is discussed. The Timoshenko beam theory (TBT) has been used to characterize the structural link elasticity including important damping mechanisms. A suitable nonlinear model is derived based on the Lagrangian assumed modes method. Elastic link manipulato...

Control of Flexible Link Robot using a Closed Loop Input-Shaping Approach

This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a  vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...

A biologically inspired four legged walking robot