A new robot toolbox for dynamics simulation based on MATLAB Graphical User Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial robot manipulator’s dynamics based on...

The robot-assisted flexible access surgery represented by the emerging endoscopy (FE) and natural orifice transluminal endoscopic demands continuum manipulators instead of rigid straight instruments in traditional minimally invasive (MIS). These are required to advance through tortuous narrow anatomic paths via orifices for dexterous diagnostic examination therapeutic operations. Therefore, dev...

This paper presents a general recurrent neural network (RNN) model for online control of time-varying robot manipulators. The robot manipulators with different setting parameters work cooperatively on an unknown curve tracing. Each joint of the manipulator is respectively provided a learning method to optimize trajectory by the training RNN model. In this paper, the proposed RNN model shortens ...

Manipulators for laser welding need to be capable of tracking a specified seam with an accuracy in the order of 0.1 mm at speeds exceeding 100 mm/s. A framework for realistic dynamic simulations has been set up to study the applicability of industrial robotic manipulators for such tasks. These simulations describe the closed loop system of the mechanical robot arm and the (digital) controller. ...

this research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (tlrfm) for dynamic object manipulation (dom) missions. for the first time, achievement of dom task using a rotating one flexible link robot was taken into account in [20]. the authors do not aim to contribute on either trajectory tracking or vibration control of the end-...

Abstract— An educational platform is presented here for the beginner students in the Simulation and Artificial Intelligence sciences. It provides with a start point of building and simulation of the manipulators, especially of 2R planar Robot. It also displays a method to replace the inverse kinematic model (IKM) of the Robot with a simpler one, by using a Multi-Layer Perceptron Neural Network ...

In recent years, minimally-invasive surgical systems based on flexible robotic manipulators have met with success. One major advantage of the flexible manipulator approach is its superior safety characteristics as compared to rigid manipulators. However, their soft compliant structure, in combination with internal friction, results in poor position and force regulation which have limited their ...

High precision position control and high speed control of the robot manipulators are fundamental and important control problems. The effectiveness of finite-time P-PI control was confirmed by end-effector position control of robot manipulators. However, parameter tuning method has not been proposed to finite-time P-PI control. In this paper, we propose a settling time design method and a parame...

Title Type control of flexible link manipulators using neural networks PDF control of flexible link manipulators using neural networks 1st edition PDF control of robot manipulators in joint space advanced textbooks in control and signal processing PDF constructive neural networks PDF digital neural networks PDF complex valued neural networks PDF control of redundant robot manipulators theory an...

This paper presents a real-time architecture for visual servoing of robot manipulators using nonlinear based predictive control. In order to increase the robustness of the control algorithm, image moments were chosen to be the visual features which describe the objects from the image. A visual predictive architecture is designed to solve tasks addressed to robot manipulators with an eye-in-hand...