"Snake" flexible arm.

Control of Flexible Robot Arm

T h i s work is a computer simulation of the control of flexi ble robot arm. The dynamic equations for a single-link flexible robot arm have been derived rigorously. Th is arm has two degrees of freedom in rotation and one in translation so that the workspdce i s three-dimensional. The payload is simulated by attaching additional mass to the arm at a specified location. The governing equations ...

Trajectory Planning Method for Flexible Arm Mounted on Flexible Base

In this study, we consider a point-to-point motion of a flexible arm mounted on a flexible base, composed of a slide rail and helical extension springs, and then propose a trajectory planning method for reducing residual vibrations. The Lagrangian approach, in conjunction with the assumed mode method, is applied to derive the equations of motion of the system. In order to accurately construct t...

Snake-arm robots and the perception of dependability

For purely commercial reasons the first users of snake-arm robot technology have not been in the field of surgery or interaction with humans generally, but rather in the field of bomb disposal and remote nuclear activities. However, these applications may indicate how robotic technology could be changed, either in physical implementation or in human perception, to become dependable; dependable ...

Control of a Flexible Robot Arm

We model a exible robot arm supported at a prismatic joint so the length of (the relevant part of) the rod is variable | indeed, this variation in the length of the arm is taken to be the control action. The principal results are: exact controllability for the consideration of purely longitudinal vibrations (wave equation) and the existence of optimal controls in the more practically interestin...

Robust Control of a Flexible Arm