This paper aims at studying the effect of uncertain parameters on a two-link planar manipulator using a fuzzy logic approach. The uncertain parameters are modeled as fuzzy variables and the dynamic simulation of the robot is performed using fuzzy dynamic analysis. Two case studies are considered to analyze the dynamic behavior of the robot manipulator: a) uncertain payload and b) uncertain payl...

In this paper, the problem of achieving high accuracy positioning of a medical robot is studied. The Northeast Proton Therapy Center, at the Massachusetts General Hospital, is a new cancer research and treatment facility. A major component of the center is a robotic patient positioning system that will carry and position patients in a proton beam. The desired positioning accuracy of the robot i...

Flexible manipulator is widely used in the implementation of industial robotic due to its advantages such as low weight, power consumption, higher load capacity, high-speed operation, small actuators and production costs. However, position speed flexible system are very difficult control tip vibration that result degradation performance. Modelling a double-link robot presented this study. Contr...

In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering potential human robot accidental collision, combined safety index (MSI) and body injury thresholds, speed are optimized advance. Secondly, using hyperbolic tangent function for refer...

Force control is very important for many practical manipulation tasks of robot manipulators, such as, assembly, grinding, deburring that associate with interaction between the end-effector of the robot and the environment. Force control of the robot manipulator can be break down into two categories: Position/Force Hybrid Control and Impedance Control. The former is focused on regulation of both...

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...

Flexible-link robotic manipulators are mechanical devices whose control can be rather challenging, among other reasons because of their intrinsic under-actuated nature. This chapter presents various experimental studies of diverse robust control schemes for this kind of robotic arms. The proposed designs are based on several control strategies with well defined theoretical foundations whose eff...

An inverse dynamics and kinematics of a flexible manipulator is derived in symbolic form based on the recursive Lagrangian assumed mode method. A PC-based program has implemented the algorithm to automatically generate the inverse dynamics and kinematics for an elastic robot in a symbolic form. A case study is given to illustrate how to use this program for inverse dynamic and kinematic generat...

This paper presents a smooth sliding mode control plus backstepping method for the motion/force control of a constrained robotic manipulator with flexible joints. The control scheme is presented based on that overall system parameters are with uncertainties whereas only the constrained force, positions and velocities of links and rotors are measurable. The smooth sliding controller can achieve ...