It has been demonstrated that the absolute nodal coordinate formulation (ANCF) proposed recently in literature can be used to exactly describe the flexible multibody system unlike traditional methods such as the floating coordinate method and assumed mode method. Therefore, in this paper a new dynamic modeling technique for a two-link flexible manipulator based on absolute nodal coordinate meth...

Manipulators with mobile base are gaining momentum in the industry due to improved workspace and flexible adaptability to changes in the product designs. Although there has been research in this field for a considerable time, many issues are still to be resolved viz. obstacle avoidance, redundancy resolution for singularity avoidance, dynamic analysis of combined manipulator and a mobile robot,...

Long reach manipulator systems (LRMS) can perform tasks in difficult to reach locations. They use a small and fast manipulator mounted on a large flexible structure that can vibrate, degrading the system performance. Control methods that use strain measurements of the flexible structure have been proposed to control the system's position in spite of the supporting structure's vibrations using a...

This paper presents a stable neural identifier for multivariable nonlinear systems. A state-space representation is considered based on both parallel and series-parallel models. No a priori knowledge about the nonlinearities of the system is assumed. The proposed learning rule is a novel approach based on the modification of the backpropagation algorithm. The boundedness of the identification e...

This ?aper deals with a robotic system in which the end-point is directly controlled. It consists of a remote guidance subsystem and a manipulator with an end-of-arm sensor subsystem. The guisance subsystem transmits and manipulates a laser beam in space, and the sensor detects the beam, sends the information to the robot controller, which, in turn, instructs the manipulator to follow the beam....

In this paper, we present a neural network based control scheme for endeffector path tracking control of a system consisting of a rigid micro manipulator attached at the end of a flexible macro manipulator. The objective is to suppress vibrations in the macro manipulator and at the same time achieve desired motions of the end-effector of the micro manipulator. A two-layer feedforward neural net...

Research on motion characteristics of the space flexible-joint flexible-link manipulator is investigated. The equations N degree freedom (DOF) flexible are established by means Newton-Euler method and finite segment considering both computational efficiency accuracy. genetic algorithm used to identify parameters torsional stiffness damping related link flexibility. derived model involves dynami...

This paper analyzes the signals captured during impacts and vibrations of a mechanical manipulator. To test the impacts, a flexible beam is clamped to the end-effector of a manipulator that is programmed in a way such that the rod moves against a rigid surface. Eighteen signals are captured and theirs correlation are calculated. A sensor classification scheme based on the multidimensional scali...

The tip position control of a single-link flexible manipulator is considered in this paper. The cross-sectional dimension of the manipulator is tuned by genetic algorithms such that the first vibration mode dominates the higher order vibrations. A sliding mode controller of reduced dimension is employed to control the manipulator using the rigid and vibration measurements as feedback. Control e...

In this paper a new control strategy is introduced for tip trajectory tracking of flexible-joint manipulators driven by harmonic drives. The proposed controller incorporates friction compensating torque (FCT) and composite controller torque (CCT), which compensate for the friction in the harmonic drives and the flexibility of the joints, respectively. The FCT is a new controller which includes ...