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...

Over the past few decades a considerable number of studies have been made on impact dynamics. Zheng and Hemami discussed a mathematical model of a robot that collides with an environment (Zheng & Hemami, 1985). When a robot arm fixed on the ground collides with a hard environment, the transition from the free space to constrained space may bring instability in the control system. Therefore, the...

probabilistic approach of traffic assignment has been primarily developed to provide a more realistic and flexible theoretical framework to represent traveler’s route choice behavior in a transportation network. the problem of path overlapping in network modelling has been one of the main issues to be tackled. due to its flexible covariance structure, probit model can adequately address the pro...

This paper proposes a method for active vibration control to two-link flexible robot arm in the presence of time delay, by means robust pole placement. The issue is practical and theoretical interest as delay can cause instability if not properly taken into account controller design. design performed through receptance exactly assign pair achieve given stability margin ensuring robustness uncer...

New generation robots, meant for physical human robot interactions, are no longer rigid; it has become soft in terms of introduction of considerable flexibility at the actuated joints, flexibility of the links and in terms of compliant coverings. Safety requirement becomes primary in situations where physical interactions occur, calling for compliance; but accuracy and control bandwidth get com...

This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS), Linear Quadratic Regulator (LQR) and Proportional-Derivative (PD) controller are the techniques used in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flex...