Soft robots are made of compliant materials that perform their tasks by deriving motion from elastic deformations. They used in various applications, e.g., for handling fragile objects, navigating sensitive/complex environments, etc., and typically actuated Pneumatic/hydraulic loads. Though demands soft continuously increasing engineering sectors, due to the lack systematic approaches, they pri...

although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...

Underactuated Cable-Driven Parallel Robots (CDPR) employ a number of cables smaller than the degrees freedom (DoFs) end-effector (EE) that they control. As consequence, EE is underconstrained and preserves some freedoms even when all actuators are locked, which may lead to undesirable oscillations. This paper proposes methodology for computation natural oscillation frequencies, whose knowledge ...

Industrial robots driven electrically with a feedback control loop (and even then hydrauhcally) create highly nonlinear dynamic systems, the control of which in real time is a difficult problem of the control theory. From the theoretical point of view it is a classical problem of optimal control. A system is to be controlled from the initial state to the terminal state so as to minimize some pe...

A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...

Unlike the inverse kinematics problem of n-tendon continuum robots, forward lacks a closed-form analytical solution. In this paper, novel algorithm for single-segment flexible robots is developed that can determine resulting beam configuration any given set actuator displacements. The determines key parameters all possible n- to 1-tendon combinations and examines them against evaluation criteri...

This paper presents an initial work of identifying the dynamic parameters for cable-driven parallel robot (CDPR), CRAFT with a rigorous protocol. An orbital trajectory platform is designed in order to get pure translation movement platform. evolves plane and allows identification four parameters, mass first three moments along main axes. The results obtained respectively from data experimental ...