This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

The robot-assisted flexible access surgery represented by the emerging endoscopy (FE) and natural orifice transluminal endoscopic demands continuum manipulators instead of rigid straight instruments in traditional minimally invasive (MIS). These are required to advance through tortuous narrow anatomic paths via orifices for dexterous diagnostic examination therapeutic operations. Therefore, dev...

The default solution for mobile robot communication is RFnetworking, typically based on one of the IEEE 802.11 standards also known as WLAN technology. Radio communication frees the robots from umbilical cords. But it suffers from several significant drawbacks, especially limited bandwidth and range. The limitations of both aspects are in addition hard to predict as they are strongly dependent ...

In the referenced paper [ 11, the author examines the stability of the planar, linear response of a suspended cable subjected to harmonic axial loading. The study is motivated by a desire to understand the dynamic stability of cables employed in structures such as cablestayed bridges or guy-towers. In these applications, the harmonic axial load derives from the dynamic reaction of the structure...

In this paper we discuss how a network of sensors and robots can cooperate to solve important robotics problems such as localization and navigation. We use a robot to localize sensor nodes, and we then use these localized nodes to navigate robots and humans through the sensorized space. We explore these novel ideas with results from two large-scale sensor network and robot experiments involving...

In this paper we discuss how a network of sensors and robots can cooperate to solve important robotics problems such as localization and navigation. We use a robot to localize sensor nodes, and we then use these localized nodes to navigate robots and humans through the sensorized space. We explore these novel ideas with results from two large-scale sensor network and robot experiments involving...

So-called robot–object Lagrangian systems consist of a class nonsmooth underactuated complementarity systems, with specific structure: an “object” and “robot”. Only the robot is actuated. The object dynamics can thus be controlled only through action contact Lagrange multipliers, which represent interaction forces between object. Juggling, walking, running, hopping machines, robotic that manipu...

A R T I C L E I N F O A B S T R A C T Article history: Received: July 10, 2009 Received in revised form: November 11, 2009 Accepted: December 2, 2009 Optimal design of parallel manipulators is known as a challenging problem especially for cable driven robots. In this paper, optimal design of cable driven redundant parallel manipulators (CDRPM) is studied in detail. Visual Inspection method is p...

damping of a full-scale cable with a pair of passive–on magnetorheological (mr) dampers was tested. a cable of 215.58m long with the first mode frequency of 0.658hz was tensioned horizontally in cable prefabrication factory. two mr dampers were attached to the cable in an angle in the plane perpendicularly to the cable axis in 5m length from the cable anchorage. the applied voltage level was 0v...