This paper presents the dynamic modelling of a flexible robot manipulator incorporating payload. A planar flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered. A dynamic model of the system is developed using a finite element and assumed mode methods (FEM and AMM). In this work will make a comparison between FEM and AMM....

This paper deals with the tracking control problem of flexible joint robots under the assumption that the link and robot positions are the only measured signals. A globally asymptotically stable state feedback controller and a nonlinear observer is proposed which guarantees the semiglobal asymptotic tracking of the system obtained by the designed dynamic output feedback controller. Examples ill...

The connection of the tractor to the inactive trailer or motor vehicle causes a motion control problem when turning in the screw, forward or backward movements and high speeds. This is due to the inactive trailer being controlled by the tracking using a physical link that is not affected by the movement. Trailers usually take tracks under these conditions. This phenomenon is called Jack Knife. ...

When a flexible arm is r o t a t e d b y a motor a b o u t an axis th rough the arm's fixed end , t ,ransverse vibrat ion may occur. The motor t o r q u e should be controlled in such a way that t h e motor rotates b y a specified angle, while simultaneously stabil izing v ibra t ion of t h e flexible arm so that it is arrested at t h e end of rotat ion. In this paper, we propose determinis t i...

This paper concerns the swing-up control of a two-link robot moving in vertical plane, which has single actuator at second joint and linear torsional spring first joint. First, we present necessary sufficient condition such that is linearly controllable upright equilibrium point (UEP, where two links are both upright). Second, prove without any assumption an provided its actuated angle constant...

A hybrid adaptive tracking controller for rigid-link flexible-joint (RLFJ) robot manipulators is designed. The controller is hybrid in the sense that an adaptive indirect controller is used to compensate for parametric uncertainties in the rigid-link equation whereas an adaptive robust controller corrects for the dynamics (i.e. mechanical flexibilities) and parametric uncertainty associated wit...

With the increasing number of people who have problems with their walking, a new type of gait rehabilitation training robot has been put forward and designed. In order to meet the requirements of the gait rehabilitation training, the whole mechanical structure and control system have been designed, and the model machine for gait rehabilitation training robot has been made. Using the human gait ...