The setpoint regulation problem for robotic manipulators is a basic task that can be solved either by PID control or by model-based gravity compensation. These approaches are commonly applied both to rigid arms and to robots with flexible links and/or elastic joints. However, PID control requires fine and lengthy tuning of gains in order to achieve good performance over the whole workspace. Mor...

In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented...

Traditional rigid serial manipulators have a natural representation associated with them – namely the angles of all the joints in the robot arm. A complete framework that is built around this representation allows engineers to write down simple kinematic and dynamic equations for the robot. These equations enable robust control of rigid robot arms. In contrast, for flexible manipulators such as...

The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positio...

We present some feedback control techniques recently developed for the exact solution of t rajectory tracking problems for manipulators with flexible elements. Two classes are considered: i) robots with rigid links but with elastic transmissions, in which flexibility is concentrated at the joints, and ii) robots with lightweight and/or long arms, where flexibility is distributed along the links...

This paper presents a method for the on-line identification of the payload carried by a single-link flexible manipulator whose movement is constrained to the vertical plane. The vertical movement of the robot makes the effect of gravity not negligible, and determines therefore, the non-linear behaviour of the analysed system. The proposed estimator is based on the algebraic derivative approach ...

Abstract In this paper, a stability control approach of flexible joint robot (FJR) based T-S fuzzy model using fuzzy Lyapunov function is proposed. First, the Takagi and Sugeno (T-S) fuzzy model is employed to approximate the flexible joint robot, then a fuzzy controller is developed based on parallel distributed compensation principle (PDC). The non-quadratic stability conditions for the flexi...

A general model for a rotating homogenous j-lexible robot link is developed. The model describes twodimensional transverse vibrations induced by the actuator due to misalignment of the actuator axis of rotation relative to the link symmetry axis and due to translational acceleration of the link. The model is validated experimentally.

The accessibility of horizontal vibration in a 3-D two-link flexible robot shows configuration-dependent nature (International Journal of Robotics Research 16 (1997) 567). This paper deals with physical meaning of the accessibility issue in conjunction with system mode approach. The identifiability which is dual to the accessibility is also discussed. The analysis of horizontal vibration based ...

A new lightweight planar parallel robot is designed to achieve high acceleration and execute high-speed pick and place tasks. However, due to the lightweight structure of the system, unwanted structural vibrations are induced during motion of the platform. This work focuses on the investigation of the characteristics of this structural vibration utilizing distributed Lead Zirconate Titanate (PZ...