Generally Kinematic and Dynamic analysis of robots are performed without modeling the flexibility of kinematic Joints, because of which the results obtained are not accurate. For better analysis and control the correct estimation and inclusion of joint effects is imminent. This paper attempts to determine the effect of joint flexibility on two link manipulator when the end effector moves in a p...

This study presents resonance-based control methods proposed by the authors for multi-joint robots. The proposed control methods adjust stiffness of mechanical elements installed in each joint of the robots to minimize actuator torque while generating desired periodic motions. Some of these control method adjust not only stiffness but also motion patterns to reduce further actuator torque. Adva...

Over the past 15 years, there has been an increasing interest in humanoid robots. Researchers worldwide are trying to develop robots that look and move more like humans because they believe that anthropometric biped robots have several advantages over wheeled robots. For instance, humanoid robots can communicate with us and express their emotions by facial expressions, speech and body language....

This paper presents a new and comprehensive method for modeling robots having highly flexible members such as flexure joints. An accurate model of large deformation bending is important for precisely describing the configuration of the flexible member. Additionally, the accuracy of the Jacobian and Hessian of the forward kinematics are critically important at large angles for predicting the def...

This paper presents a nonlinear control for trajectory tracking and vibration control of a flexible joint manipulator by using chaotic gyroscope synchronization. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. Based on Lyapunov stability theory, the nonlinear controller and some generic sufficient ...

The productivity of present day industrial robots may be hampered by phenomena such as vibrations and deformations which appear whenever they are made to move at high speeds or to carry heavy payloads. To address this problem, many researchers have studied the flexibility of robot arms. Most works, however, rely on simple one or two-link flexible arms made with extremely flexible beams which op...