In this article, a new systematic method for deriving the dynamic equations of motion for exible robotic manipulators is developed by using the Gibbs-Appell assumed modes method. The proposed method can be applied to the dynamic simulation and control system design of exible robotic manipulators. In the proposed method, the link de ection is described by a truncated modal expansion. All the mat...

this paper describes the design and kinematic analysis of a 5 DOF upper limb powered robotic exoskeleton for rehabilitation of the patients who survived stroke and the elderly who do not have enough strength to move their limbs freely. It was observed that the existing upper extremity exoskeletons were bulky and heavy which made them limited to applications and the complexity of the system incr...

Parallel robotic manipulators have a complicated dynamic model due to the presence of multi-closedloop chains and singularities. Therefore, the control of them is a challenging and difficult task. In this paper, a novel adaptive tracking controller is proposed for parallel robotic manipulators based on fully tuned radial basis function networks (RBFNs). For developing the controller, a dynamic ...

A strategy to improve the performance of current commercial industrial robots is presented in this paper. This strategy involves cooperation of two robotic manipulators: the robotic controlled impedance device (RCID) and a commercial industrial robot. The RCID is a small six degrees-of-freedom (DOF) high bandwidth force–impedance controlled parallel manipulator, developed at the School of Engin...

Efficient control of robotic manipulators is an important industrial problem, and this paper proposes the use of artificial neural networks as a possible solution. The computed torque control scheme in particular is examined, and neural networks are used for the task of modelling the robotic manipulators. This scheme is applied to a two axis robot, whose feedback is corrupted by noise. The comp...

The realization of lasers as small as possible has been one of the long-standing goals of the laser physics and quantum optics communities. Among multitudes of recent small cavities, the one-dimensional nanobeam cavity has been actively investigated as one of the most attractive candidates for effective photon confinement thanks to its simple geometry. However, the current injection into the ul...

Electrically-mediated actuation schemes offer great promise beyond popular pneumatic and suction based ones in soft robotics. However, they often rely on bespoke materials manufacturing approaches that constrain design flexibility widespread adoption. Following the recent introduction of a class architected called handed shearing auxetics (HSAs), we present 3D printing method for rapidly fabric...

A nonlinear programming approach for the optimal motion planning of robotic manipulators is presented. In this approach a standard optimal control problem of infinite dimensionality (in time) is converted into an optimization problem of finite dimensionality by approximating the manipulator trajectories by the sum of a polynomial and a set of appropriate eigenfunctions. The optimal control prob...