RESONANCE FREE MECHANICAL MANIPULATORS

Model-free Subspace Based Dynamic Control of Mechanical Manipulators

Passive Velocity Field Control of Mechanical Manipulators

Two concepts are advocated for the task specification and control of mechanical manipulators: 1) coding tasks in terms of velocity fields; 2) designing controllers so that the manipulator when under feedback control, interacts in an energetically passive manner with its physical environment. Based on these two concepts, a new passive velocity field controller (PVFC) is proposed which mimics the...

Experimental backlash study in mechanical manipulators

The behavior of mechanical manipulators with backlash is analyzed. In order to acquire and study the signals an experimental setup is implemented. The signal processing capabilities of the wavelets are used for de-noising the experimental signals and the energy of the obtained components is analyzed. To evaluate the backlash effect upon the robotic system is proposed an index based on the phase...

Dynamic Singularities in Free-floating Space Manipulators

Dynamic Singularities are shown for free-floating space manipulator systems where the spacecraft moves in response to manipulator motions without compensation from its attitude control system. At a dynamic singularity the manipulator is unable to move its end-effector in some inertial direction; thus dynamic singularities must be considered in the design, planning, and control of free-floating ...

Mechanical Resonance Dispersion Revisited

Mechanical resonance dispersion is the inelastic response of a solid to a periodic shear stress. Instead of the elastic Young's Modulus, the phenomenon is described by both a real J', and an imaginary J'' component of complex shear compliance, corresponding to in phase and out of phase strain responses, respectively. The experimental results are plots of J' and J'' vs. frequency, which are typi...