1.1 Overview In this book chapter a comparative assessment of modelling and control of mechanical manipulator is considered. First, kinematic and dynamic modelling of wide range of mechanical manipulators comprising flexible link, flexible joint and mobile manipulators are considered. Then, open-loop optimal control problem is formulated to control of the obtained system. Finally, some applicat...

PURPOSE Numerous federal bodies and professional societies have produced guidelines and standards for the reprocessing of endoscopes, but few specifically address the reprocessing of cystoscopes. MATERIALS AND METHODS This document presents a summary of the current recommendations for reprocessing flexible cystoscopes, and highlights particular aspects of instrument reprocessing that are uniq...

The joint modelling of longitudinal and survival data is a highly active area of biostatistical research. The submodel for the longitudinal biomarker usually takes the form of a linear mixed effects model. We describe a flexible parametric approach for the survival submodel that models the log baseline cumulative hazard using restricted cubic splines. This approach overcomes limitations of stan...

Space manipulator systems are designed to have lightweight structure and long arms in order to achieve reduction of fuel consumption and large reachable workspaces, respectively. Such systems are subject to link flexibilities. Moreover, space manipulator actuators are usually driven by harmonic gear mechanisms which lead to joint flexibility. These types of flexibility may cause vibrations both...

In this paper, a practical method to design a robust controller for a flexible joint robot (FJR) using quantitative feedback theory (QFT) is proposed. In order to control fast and slow dynamics of the FJR separately, composite control scheme is considered as the basis for the design. A simple PD controller is used to stabilize the fast dynamics, and a QFT controller is used in addition to an in...

Manipulators are controlled to make their end-effector (Tool Centre Point) track a pre-specified trajectory in space. This goal is achieved if the actuators of the manipulator are activated appropriately. The controller, used to calculate these inputs, can have may different forms, each with its own (dis)advantages.

This paper describes the design and construction of an open automated solder bond veri cation machine for the electronics manufacturing industry The application domain is the higher end assembly technologies with an emphasis on ne pitch surface mount components The system serves a measurement function quantifying the solder bonds It interfaces with the manufacturing process to close the manufac...

Abstrad-Several new controller design techniques for global stabilization of nonlinear systems have recently been reported. Typically, these methodologies provide the designer with various degrees of freedom; consequently, their application in specific examples leads to the definition of various control schemes. One question of interest is the relationship between these schemes, or whether one ...

∗ Department of Computer Science. CUCEI, University of Guadalajara. Guadalajara, Mexico. ∗∗ Electronics Department. CUCEI, University of Guadalajara. Guadalajara, Mexico. ∗∗∗ Automatic Control Department, SUPELEC. Gif-sur-Yvette, France. ∗∗∗∗ Institute of Industrial and Control Engineering, Technical University of Catalonia. Barcelona, Spain. Emails: {emmanuel.nuno; daniela.valle}@cucei.udg.mx,...