Robots today have an ever growing niche. Many of today’s robots are required to perform tasks which demand high level of accuracy in end effector positioning. The links of the robot connecting the joints are large, rigid, and heavy. These manipulators are designed with links, which are sufficiently stiff for structural deflection to be negligible during normal operation. Also, heavy links utili...

this study on the design of pid controllers for flexible single-arm robot system optimizationpso method is focused so that the coefficients of the pid controller are reduced. in this study,pid controller and pso algorithm have been described and then by using matlab, pidcontrol was simulated. then by pso algorithm, attempts to reduce the pid coefficients are givenby simulation. finally pid coef...

Design of output tracking controllers for nonlinear nonminimum phase systems is challenging. Among existing methods the regulation approach usually leads to large transient errors while the classical inversion approach results in unbounded internal dynamics for nonminimum phase systems. In this paper, stable inversion is applied to the design of tip trajectory tracking for a single-link flexibl...

We consider the problem of automatically designing model-based controllers of modular robot manipulators in a systematic way. Modular robots are especially useful in flexible manufacturing, where one wishes to quickly assemble robots from a set of modules for temporary tasks. The evaluation of all possible dynamical models is typically impractical, undermining the implementation of model-based ...

The paper presents a new formal way of modeling and designing reconfigurable robots, in which case the robots are allowed to reconfigure not only structurally but also functionally. We call such kind of robots “self-evolvable”, which have the potential to be more flexible to be used in a wider range of tasks, in a wider range of environments, and with a wider range of users. To accommodate such...

Programmable matter is a material that produces distinctive shapes or patterns according to a given command. Often they are composed of interconnected modular elements that are able to make or break the connections or alter relative orientation. We present programmable matter based on robotic origami that demonstrates the capability to fold into 3D shapes starting from a nominally 2D sheet. Thi...