Abstract The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching ...

By combining a parallel mechanism with integrated flexible joints, a large measurement range and high accuracy sensor is realized. However, the main errors of the sensor involve not only assembly errors, but also deformation errors of its flexible leg. Based on a flexible joint 6-UPUR (a kind of mechanism configuration where U-universal joint, P-prismatic joint, R-revolute joint) parallel six-a...

The successful control of a robot hand with multiple degrees of freedom not only requires sensors to determine the state of the hand but also a thorough understanding of the actuator system and its properties. This article presents a set of sensors and analyzes the actuator properties of an anthropomorphic robot hand driven by flexible fluidic actuators. These flexible and compact actuators are...

In this work is considered the problem of rest-to-rest motion in a desired pre-fixed time for planar flexible manipulators. We introduce a simple idea permitting the minimization of end-effector residual vibration when reaching a desired angular equilibrium position, in a pre-fixed desired travelling time. The results hold without considering internal elastic damping effect, using a classical c...

Type-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type-2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller (IT2FLC) to control a flexible-joint robot with voltage control strategy. In order to take into account the whole robotic system including the dynamics of actuators and the robot manipulator, the voltage...

Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared conventional rigid robots. Therefore, the controller must able handle dynamic oscillatory effect mainly due intrinsic joint elasticity. Singular perturbation theory makes it possible decompose flexible dynamics into fast and slow subsystems. This model separation provides ad...

This paper describes a general passivity-based framework for the control of flexible joint robots. Recent results on torque, position, as well as impedance control of flexible joint robots are summarized, and the relations between the individual contributions are highlighted. It is shown that an inner torque feedback loop can be incorporated into a passivity-based analysis by interpreting torqu...

openAAL is a joint open source initiative by FZI Research Center for Information Technologies, Friedrich-Schiller-University of Jena and CAS Software AG. It represents a flexible and powerful middleware for ambient-assisted living (AAL) scenarios and is based on research results of several German and international projects including the SOPRANO Integrated Project. The openAAL platform enables e...

A new 2D highly flexible and breathing porous framework [CuL(Me2NH)]·DMF·H2O () (H3L = 5-(4'-carboxylphenoxy)nicotinic acid) has been synthesized using a tritopic linker with a flexible joint. The desolvated framework, [CuL(Me2NH)] (), undergoes structural contraction, and exhibits selective and double-step hysteretic adsorption for CO2. Furthermore, on exposure to CH2Cl2 at room temperature, a...

We developed a new type of molecular rods consisting of two (or more) rigid units linked by a flexible joint. Consequently we called these constructs articulated rods (ARs). The syntheses of ARs were carried out by a flexible and modular approach providing access to a number of compounds with various functionalizations in terminal positions. First applications were presented with pyrene, cinnam...