Flexible Manufacturing Systems (FMS) are essential for small/medium batch and job shop manufacturing. These types of production systems are used to manufacture a considerable variety of products with medium/small production volumes. Therefore, the manufacturing platforms supporting these types of production must be flexible and organized in Flexible Manufacturing Cells (FMC). Programming FMC's ...

Hybrid position/force control enables a robot to apply specified forces to a constraint while moving along a prescribed path. Flexibility of the motor transmissions (joint flexibility) is a major concern in the design of hybrid controls, particularly with regard to system stability. While much work on hybrid control has been toward the development of advanced schemes specifically for flexible-j...

workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

Article history: Received 29 April 2015 Received in revised form 23 August 2015 Accepted 30 August 2015 Available online 14 September 2015 Snake-like flexible manipulators are widely used in minimally invasive surgery (MIS), which require adequate dexterity in confined workspace. Typically, the design mechanisms of these manipulators include tendon-driven mechanism and concentric tube mechanism...

This paper presents a composite controller for tip position tracking of flexible link manipulators. The main control challenge for flexible link manipulators is the non-minimum phase characteristics of the system. In this regard, an inner/outer control structure is proposed. As opposed to previous research in this area, the desired reference trajectory is robustly modified in an online scheme t...

The optimal path planning for two flexible cooperating manipulators carrying a solid object on a prescribed tip trajectory has been studied using kinematic resolution. The formulation has been derived using the Pontryagin minimum principle that results in a two-point boundary value problem. Also, a numerical technique based on converting the abstract optimization to parametric optimization prob...

The adaptive control of robot manipulators has been presented as a solution for dealing with uncertainty and variation of the mass properties. Although these systems are nonlinear, globally stable tracking has been demonstrated both analytically and supported through experiments [1]. The key to these results has been the linear dependence of the model on the unknown parameters and, in many case...

The dynamics and control of flexible link manipulators (FLMs) are increasing in industrial robotics research. In which the problem inverse is a that has been studied little no general solution. this paper, an approximation method presented to calculate reverse serial with rigid-flexible links. linearization motion equations for translation rotation two-link manipulator (manipulator T-R) address...