Many space applications require robotic manipulators which have large workspace and are capable of precise motion. Micro-macro manipulators are considered as the best solution to this demand. Such systems consist of a long flexible arm and a short rigid arm. Kinematic redundancy and presence of unactuated flexible degrees of freedom, makes it difficult to control micro-macro manipulators. This ...

This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...

This paper analyzes the performance of a robotic system with two machines in which machines are configured in a circular layout and produce non-identical parts repetitively. The non-destructive testing (NDT) is performed by a stationary robotic arm located in the center of the circle, or a cluster tool. The robotic arm integrates multiple tasks, mainly the NDT of the part and its transition bet...