CAD-based approach for identification of elasto-static parameters of robotic manipulators

Discrete-time repetitive optimal control: Robotic manipulators

This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

An Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload

In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...

Optimization of Meshless Local Petrov-Galerkin Parameters using Genetic Algorithm for 3D Elasto-static Problems (TECHNICAL NOTE)

A truly Meshless Local Petrov-Galerkin (MLPG) method is developed for solving 3D elasto-static problems. Using the general MLPG concept, this method is derived through the local weak forms of the equilibrium equations, by using a test function, namely, the Heaviside step function. The Moving Least Squares (MLS) are chosen to construct the shape functions. The penalty approach is used to impose ...

GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)

CONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY

A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...