The article presented two proposals for construction of a flexible element with variable stiffness, in which construction is limited, or is it completely eliminated the mechanical elastic member such as spring. Their properties vary in the extent applicable member stiffness and speed of reaction to contact with an obstacle. By limiting, or eliminating the mechanical elastic member can be achiev...

This chapter focuses on the dynamic control issues of lightweight robots as well as flexible joint robots. The goal is to increase the bandwidth and the accuracy of the trajectory tracking control. Besides the joint flexibility, the control design considers the dynamics of the electric motor in AC-form i.e. the three phase permanent magnet synchronous motor (PMSM). The final system model is a f...

Real-time robust adaptive fuzzy fractional-order control of electrically driven flexible-joint robots has been addressed in this paper. Two important practical situations have been considered: the fact that robot actuators have limited voltage, and the fact that current signals are contaminated with noise. Through of a novel voltage-based fractional order control for an integer-order dynamical ...

Mechanical flexibility in robot manipulators is due to compliance at the joints and/or distributed deflection of the links. Dynamic models of the two classes of robots with flexible joints or flexible links are presented, together with control laws addressing the motion tasks of regulation to constant equilibrium states and of asymptotic tracking of output trajectories. Control design for robot...

in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

this paper presents a gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. to study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. the adaptation laws of designed controller are obtained based on sliding m...