Vision-aided flexible link robot positioning using the Camera Space Manipulation (CSM) method is developed. The primary motivation for this work is to use an autonomous vision-aided robotic system to pick-up and accurately move a flexible object that it encounters. The work consists of analytical and experimental investigation of the performance of CSM for a kinematic model of the PUMA manipula...

Impact induced transient vibrations of a two-link flexible-arm were attenuated by varying the stiffness of an elbow actuator. Case studies were conducted to determine the effectiveness of the control method as the payload and the elbow angle changed. The suggested method is effective and simple to implement with minimal hardware requirements.

The paper presents a new method for online identification of pay-loads for a two-link flexible robot. The method benefits from the close correspondence between parameters of a discrete-time model represented by means of the Delta-Operator, and those of the underlying continuous-time model. Although the applied principle might be general in nature, the paper is applied to the well-known problem ...

Integrated structure control design of a two-link flexible robot arm is investigated in this article. The whole arm consists of two flexible links, a fixed joint, a moving joint, and a tip load. The arm is driven by the torque motors at the two joints to reach predefined tip positions and to suppress residual flexural vibrations. The links of the arm are modeled using the finite element method ...

The limitations of conventional model-based control mechanisms for flexible manipulator systems have stimulated the development of intelligent control mechanisms incorporating fuzzy logic and neural networks. Problems have been encountered in applying the traditional PD-, PI-, and PID-type fuzzy controllers to flexible-link manipulators. A PD-PI-type fuzzy controller has been developed where th...

Title Type control of flexible link manipulators using neural networks PDF control of flexible link manipulators using neural networks 1st edition PDF control of robot manipulators in joint space advanced textbooks in control and signal processing PDF constructive neural networks PDF digital neural networks PDF complex valued neural networks PDF control of redundant robot manipulators theory an...

Quantitative Feedback Theory (QFT) is employed to achieve time domain specifications on the tip position of a hybrid actuated single-link flexible manipulator. The manipulator payload conditions are varied to assess the robustness of the synthesised control system to parametric uncertainty. A combination of QFT multi input multi output (MIMO) design methods 1 (nonsequential) and 2 (sequential) ...

This paper proposes a discrete-time hazard regression approach based on the relation between hazard rate models and excess over threshold models, which are frequently encountered in extreme value modelling. The proposed duration model employs a exible link function and incorporates the grouped-duration analogue of the wellknown Cox proportional hazards model and the proportional odds model as s...

Over the last years, flexible structured manipulators have increased in popularity in aeronautical research because of their advantages compared to conventional rigid structures. Unfortunately, the flexibility of the structure has one big disadvantage; it causes undesired motions of the spacecraft. The flexibility of the structure generates structural vibrations that strongly interferes with ri...

The aim of this study is to investigate motion in the horizontal and the vertical planes of a single-link flexible manipulator. The manipulator is modelled including gravity terms, and it is verified experimentally that the horizontal and the vertical motions are decoupled for a cylindrically symmetrical link and payload. The mathematical model is used to design a mixed-sensitivity H2 controlle...