Abstract The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching ...

This paper presents a variable structure rule-based fuzzy control for trajectory tracking and vibration control of a flexible joint manipulator by using chaotic anti-control. Based on Lyapunov stability theory for variable structure control and fuzzy rules, the nonlinear controller and some generic sufficient conditions for global asymptotic control are attained. The fuzzy rules are directly co...

In this paper a new control strategy is introduced for tip trajectory tracking of flexible-joint manipulators driven by harmonic drives. The proposed controller incorporates friction compensating torque (FCT) and composite controller torque (CCT), which compensate for the friction in the harmonic drives and the flexibility of the joints, respectively. The FCT is a new controller which includes ...

In this paper control of a flexible joint manipulator is designed using an adaptive output-feedback controller based on a backstepping design. The parameters of system are assumed to be unknown and only motor position and link position measurements are used for the synthesis of the controller. A canonical state representation of the system is derived and filters are designed to obtain the estim...

A new formulation of a trajectory tracking controller for flexible joint robotic manipulator is proposed. The controller is based on the continuous time nonlinear predictive control approach wherein predicted errors in the actual response and the desired response and current control expenditure is minimized point-wise to obtain an optimal, nonlinear feedback control law. It is shown that the we...

This paper presents an application of Continuum (i.e. Lagrangian) and Finite Element Techniques to flexible manipulator arms for derivation of the corresponding Dynamic Equations of Motion. Specifically a one-link flexible arm is considered for detailed analysis, and the results are extended for the case of a two - link flexible manipulator. Numerical examples are given for the case of both one...

Research on motion characteristics of the space flexible-joint flexible-link manipulator is investigated. The equations N degree freedom (DOF) flexible are established by means Newton-Euler method and finite segment considering both computational efficiency accuracy. genetic algorithm used to identify parameters torsional stiffness damping related link flexibility. derived model involves dynami...

Manipulators for laser welding need to be capable of tracking a specified seam with an accuracy in the order of 0.1 mm at speeds exceeding 100 mm/s. A framework for realistic dynamic simulations has been set up to study the applicability of industrial robotic manipulators for such tasks. These simulations describe the closed loop system of the mechanical robot arm and the (digital) controller. ...

A control scheme for flexible-link manipulators is advanced which is based on the notion of nonlinear inner–outer factorization. It is well known that the inverse of the forward dynamics map from joint torques to manipulator tip motion is noncausal and cannot be implemented in conjunction with real-time path planning. The methods used here determine causal approximations for the inverse dynamic...

This work treats the problem of dynamic modeling and state space approximation for robotic manipulators with flexibility. Case studies are planar manipulators with a single flexible link together with clamped-free ends and tip mass conditions. In this paper, complete dynamic modeling of the flexible beam without premature linearization in the formulation of the dynamics equations is developed, ...