Abstract The paper deals with the elastostatic modeling of a multi-link flexible manipulator based on two-dimensional (2D) dual-triangle tensegrity mechanism and its nonlinear behavior under external loading. main attention is paid to static equilibriums stiffness loading for arbitrary initial configuration. It was proved that there quasi-buckling phenomenon this while increasing. In neighborho...

Flexible manipulators are extensively used in industries. In this paper, backstepping method (BM) is used to control flexible manipulator. BM consists of parameters which accept positive values. The parameters are usually chosen variously. The system responses differently for each value. In this method, some paremeters exist, which, if not defined well, may cause some performance degrade. It is...

In this paper we provide a vibration analysis model and the modeling method for a fully flexible 3-Parallel-Revolute-joint-and-Spherical-joint (3PRS) manipulator—a sliding-leg tripod with flexible links and joints. A series of tripod configurations are set by rigid kinematics for simulation and experiment. All the links are modeled by finite elements: triangular membranes combined with bending ...

This study investigates the visual servo control of space station macro/micro manipulator system. The proposed approach is based on position-based eye-in-hand (PBVS) and takes advantage hardware sensors to overcome macro manipulator’s base flexibility joint backlash. First, a vibration suppression reaction force feedback proposed, deflection forces are measured by six-axis force/torque sensor a...

The design of inversion-based nonlinear control laws solving the problem of accurate trajectory tracking for robot arms having flexible links is considered. It is shown that smooth joint trajectories can always be exactly reproduced preserving internal stability of the closed-loop system. The interaction between the Lagrangian/assumed modes modeling approach and the complexity of the resulting ...

This project presents investigations into the applications and performance of embedded input shaper in command shaping techniques for vibration control of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. An unshaped bang-bang torque input is used to determine the characteristi...

Wayne J. Book George W. Woodruff SchOOl of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 A manipulator system with a large workspace volume and high payload capa~ity has greater link flexibility than do typical industrial robots and teleoperators. N Imk flexibility is significant, position control of the manipulator's end-effector exhibits nonminimum-phase. noncollo...

A systematic analysis of the mobility of closed chain manipulators with passive joints is given. The main observation presented in this paper is that the mobility of the manipulator, considering the passive joints only, should always be zero. Further, for the manipulator to be fault tolerant, the mobility should remain zero when actuator failure occurs for an arbitrary joint. We present a simpl...

A practical method is proposed for estimating the inertial parameters of robot manipulators with substantial unmodeled joint kiction and actuator dynamics. The manipulator is mounted on a six-axis forcehorque sensor. Sensor measurements and joint velocities recorded during manipulator motion are used to identify the inertial parameters. The unmodeled joint piction and actuator dynamics do not d...

Flexible manipulators are extensively used in industries. In this paper, backstepping method (BM) is used to control flexible manipulator. BM consists of parameters which accept positive values. The parameters are usually chosen variously. The system responses differently for each value. In this method, some paremeters exist, which, if not defined well, may cause some performance degrade. It is...