Robot vibration modeling and control

Robot Vibration Control Using Inertial Damping Forces

Flexible Objects Vibration Control and Handling Using Dd Robot Arms

This paper addresses issue of flexible object manipulation by using robot arms. The main objective is to establish a suitable control system of the robot for performing flexible object manipulation tasks. A force sensor equipped at the wrist of the robot arm is used to measure the vibration of the flexible object. A vibration control scheme is designed based on linear feedback of vibration meas...

Biomimetic walking robot SCORPION: Control and modeling

We present the biomimetic control scheme for the walking robot SCORPION. We used a concept of Basic Motion Patterns, which can be combined in a very flexible manner. In addition our modeling and simulation approach is described, which has been done based on the ADAMS(TM) simulator. Especially the motion patterns of real scorpions were analyzed and used for walking patterns and acceleration of t...

Modeling and Control of Casterboard Robot

In this paper, we propose a robotic model of a casterboard, which is a commercial variants of skateboards with twistable footplates and passive inclined caster wheels. We then derive its mathematical model in the form of nonlinear state equation; this system is of much interest from both mechanical and control points of view as a new challenging example of nonholonomic mechanics. Based on the o...

Vibration Control of Flexible Arm for Robot Experiment on JEM

In this paper, the dynamics and control of a novel mobile robot on the International Space Station (ISS) are discussed. The Japan Aerospace Exploration Agency (JAXA) is developing a robotic system which has an extendable arm and several tethers to support Extravehicular Activity (EVA) performed by astronauts. The robotic arm is build from a light material and can be extended longer. The vibrati...