A Procedure for Experimental Evaluation of Cartesian Stiffness Matrix of Multibody Robotic Systems

Online Computation of the Stiffness Matrix in Robotic Structures Using Finite Element Analysis

Finite Element Analysis (FEA) is known to be a highly reliable tool for structural analysis, but this is usually conducted offline. Online use of FEA is usually out of the question because it is highly demanding in terms of computing time. We show in this report how the Cartesian stiffness matrix of robotic structures of a certain class can be computed online with FEA support. The procedure is ...

Stiffness Analysis for an Optimal Design of Multibody Robotic Systems

Indices for Stiffness and Singularity Evaluation for Designing 5R Parallel Manipulators

Parallel manipulators have various advantages over serial robots but they have a few drawbacks mainly referring to stiffness and singularities. Close to or in singular configurations the structure can not resist an external wrench applied to the mobile platform, therefore it may have uncontrolled movements. The study of the stiffness becomes of primary importance to design multibody robotic sys...

Modelling and Compensation of uncertain time-delays in networked control systems with plant uncertainty using an Improved RMPC Method

Control systems with digital communication between sensors, controllers and actuators are called as Networked Control Systems (NCSs). In general, NCSs encounter with some problems such as packet dropouts and network induced delays. When plant uncertainty is added to the aforementioned problems, the design of the robust controller that is able to guarantee the stability, becomes more complex. In...

A Comprehensive Model for Stiffness Coefficients in V-Shaped Cantilevers

   During past decade the AFM based nanomanipulation has been focus of attention as the promising nano fabrication approach. The main challenge in this process is the real-time monitoring. Consequently, the dynamic models have been proposed as a solution to the existing challenge. In the modeling approach the magnitudes of the forces are proportional to the stiffness coefficients o...