in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

This paper describes solutions that can be applied to pneumatic manipulator problems in positioning, both for angle trajectories and for long linear trajectories, used in construction tasks. Optimal positioning of a pneumatic manipulator along angle trajectories with minimum control energy consumption is given. The implementation of the control system is presented. Control algorithms for a long...

This paper considers improving the tip regulation performance of a joint-PD controlled single-link flexible manipulator by introducing nonlinear strain feedback. The controller is developed by applying Lyapunov’s direct method. The stability of the closed-loop system is theoretically proven based on the partial differential equations (PDE’s) which govern the motion of the flexible robot, instea...

Flexibility at the joint of a manipulator is an intrinsic property. Even “rigid-joint” robots, in fact, possess a certain amount of flexibility. Previous experiments confirmed that joint flexibility should be explicitly included in the model when designing a high-performance controller for a manipulator because the flexibility, if not dealt with, can excite system natural frequencies and cause ...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

This paper presents dynamic modelling of a two-link flexible manipulator system. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. A two-link flexible manipulator incorporating structural damping, hub inertia and payload is considered. An explicit, complete, and accurate nonlinear dyna...

This paper presents a trajectory tracking control method for flexible space robot. The advantage of the method is that it is free from spill-over instability as it uses a robust overwhelming trajectory controller. The proposed controller is conceptualized for a single rotational degree of freedom case. The efficacy of the scheme is illustrated by simulation results. The stability analysis of th...

Actuator failure and joint flexibility will dramatically impact space robot system control. In this paper, free-floating flexible-joint space-manipulator dynamic-modeling is studied a state-observer-based robust backstepping fault-tolerant control proposed for the actuator failure. Based on simplified model, system’s rigid-flexible coupled-dynamic equations are established according to momentum...

Tracking of a square trajectory 12.6 m x 12.6 m by a two-link flexible robot manipulator is performed repetitively for both inverse dynamics control (IDC) and fuzzy logic control (FLC). Repetitive learning inverse dynamics control (RLIDC) achieves no improvement in tracking but repetitive learning fuzzy logic control (RLFLC) achieves greater precision where cyclic tracking enables the fuzzy inf...

Over the last years, flexible structured manipulators have increased in popularity in aeronautical research because of their advantages compared to conventional rigid structures. Unfortunately, the flexibility of the structure has one big disadvantage; it causes undesired motions of the spacecraft. The flexibility of the structure generates structural vibrations that strongly interferes with ri...