In this paper we propose an implicit force control scheme for a one-link flexible manipulator that interact with a compliant environment. The controller was based in the mathematical model of the manipulator, considering the dynamics of the beam flexible and the gravitational force. With this method, the controller parameters are obtained from the structural parameters of the beam (link) of the...

A new approach based on interval analysis is developed to find the global minimum-jerk (MJ) trajectory of a robot manipulator within a joint space scheme using cubic splines. MJ trajectories are desirable for their similarity to human joint movements and for their amenability to path tracking and to limit robot vibrations. This makes them attractive choices for robotic applications, in spite of...

Dynamics of multi-link manipulators with flexible links include complex high-order equations which make their control problem very challenging. This paper presents a new method for simultaneous motion and vibration control of a twolink flexible manipulator using H2/H∞ control. A multi-element finite element model of the manipulator is casted into the generalized plant model, and H2 and H∞ contr...

In this paper, modelling and identification of a hydraulic servoactuator system is presented. The importance of such a model is evident in further understanding the system and in order to develop a robust force controller. The model accounts for line losses, nonlinear orifice areas, hysteresis, friction, leakage, and load dynamics. System parameters are identified based on a high-performance hy...

We present a new neural velocity force control scheme for a DOF industrial manipulator ensuring tracking of end e ector positions along unconstrained directions and tracking of contact force along the constrained direction to signi cantly expand the range of manipulator applications Neural velocity force control is actually feasible even in the case of an extreme sti environment which is a quit...

Robot manipulators are built to meet certain pre-determined performance requirements. The question of whether the robot will have the desired functionality (e.g. dexterity, accuracy, reliability, speed, etc.) needs to be answered before the robot is actually built. We have developed a software package that can greatly ease the design of a generic 6-DOF manipulator with a spherical wrist. Our pa...

Recursive matrix equations for kinematics and dynamics analysis of a 4-DOF parallel manipulator with a passive constraining leg and revolute actuators are presented in this paper. The prototype of this robot is a spatial mechanism, which has two translation degrees of freedom and also two rotation degrees of freedom. The manipulator consists of a base platform, a moving platform and a system of...

in this paper a performance analysis is presented for a cable-suspended parallel manipulator. experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. the load-carrying capacity during a given trajectory is obtained. this computational technique is tested on a typical planar cable suspended manipulator. the experim...

Mobile manipulator systems, comprised of a mobile platform with one or more manipulators, are of great interest in a number of applications. This paper presents a methodology for computing actuator commands for such systems that allow them to follow desired end-effector and platform trajectories without violating the nonholonomic constraints. Based on a reduction of the system dynamics, a model...

By incorporating the physical constraints in joint space, a different-level simultaneous minimization scheme, which takes both the robot kinematics and robot dynamics into account, is presented and investigated for fault-tolerant motion planning of redundant manipulator in this paper. The scheme is reformulated as a quadratic program (QP) with equality and bound constraints, which is then solve...