Novel robotic applications have demanded lighter robots that can be driven using small amounts of energy, for example robotic booms in the aerospace industry, where lightweight manipulators with high performance requirements (high speed operation, better accuracy, high payload/weight ratio) are required (Wang & Gao, 2003). Unfortunately, the flexibility of these robots leads to oscillatory beha...

INTRODUCTION Transurethral laser surgery using a flexible multibackbone robot was recently demonstrated by Simaan et al. for bladder resection [1]. For transurethral prostate resection, thinner flexible manipulators are desirable. We have developed a hand-held system that transurethrally deploys two concentric tube robots through an 8.3 mm diameter rigid endoscope [2], as shown in Figs. 1 and 2...

Manipulators for laser welding need to be capable of tracking a specified seam with an accuracy in the order of 0.1 mm at speeds exceeding 100 mm/s. A framework for realistic dynamic simulations has been set up to study the applicability of industrial robotic manipulators for such tasks. These simulations describe the closed loop system of the mechanical robot arm and the (digital) controller. ...

1.1 Overview In this book chapter a comparative assessment of modelling and control of mechanical manipulator is considered. First, kinematic and dynamic modelling of wide range of mechanical manipulators comprising flexible link, flexible joint and mobile manipulators are considered. Then, open-loop optimal control problem is formulated to control of the obtained system. Finally, some applicat...

in present paper, a point to point optimal path is planned for a mobile manipulator with flexible links and joints. for this purpose, a perfect dynamic modeling is performed for mobile manipulators considering large deformation in links, shear effects, elastic joints, effect of gravitation, and non-holonomic constraints. to study large deformation of links, non-linear relation of displacement-s...

AhttuctIn this short note, we present three types of adaptive puameter update law for the rigid body robot d p u k t o r baeed on the epeed gradient alge dthm which ie introduced by Fradkov. In the derivation of the new adaptive parameter update laws, we refer the dynamics of rigid body robot manipulators and it’s error dynamics which were derived by Slotine. It is shown that the parameter upda...

A method of sliding mode control (SMC) is proposed for the control of flexible, nonlinear, and structural systems. The method departs from standard sliding mode control by dispensing with generalized accelerations during the control law design. Global, asymptotic stability of rigid body motion is maintained if knowledge on the bounds of the neglected terms exists. Furthermore, this method provi...

In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...