This paper presents a novel adaptive neuro-fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part. The capability of the proposed ANFIS2 for function approximation and dynamical system identification is remarkable. The structure of ANFIS2 is very sim...

This paper addresses issue of flexible object manipulation by using robot arms. The main objective is to establish a suitable control system of the robot for performing flexible object manipulation tasks. A force sensor equipped at the wrist of the robot arm is used to measure the vibration of the flexible object. A vibration control scheme is designed based on linear feedback of vibration meas...

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

Force control is very important for many practical manipulation tasks of robot manipulators, such as, assembly, grinding, deburring that associate with interaction between the end-effector of the robot and the environment. Force control of the robot manipulator can be break down into two categories: Position/Force Hybrid Control and Impedance Control. The former is focused on regulation of both...

The applicability of transputers in control systems is investigated. This is done by implementing a controller for a flexible robot arm with one degree of freedom on a system consisting of an IBM-AT and four transputers. It is found that a control system with transputers offers a great improvement compared with conventional digital control systems. Transputers can solve the common problem in co...

A technique using augmented sliding mode control for robust, real-time control of flexible multiple link robots is presented. For the purpose of controller design, the n-link, n-joint robot is subdivided into n single joint, single link subsystems. A sliding surface for each subsystem is specified so as to be globally, asymptotically stable. Each sliding surface contains rigid-body angular velo...

The present investigation presents a stochastic model for a flexible manufacturing system consisting of flexible machine, loading/unloading robot and an automated pallethandling device. We consider unreliable flexible manufacturing cell (FMC) wherein machine and robot operate under individual as well as common cause random failures. The pallethandling system is completely reliable. The pallet o...

Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both o...

This paper presents a nonlinear formulation to model flexible-link robots based on finite element approach. To derive nonlinear dynamic equations of the flexible-link robot, links are modeled by some finite elements, and Lagrange’s principle is used for dynamic modeling. A local coordinate system is attached to each link and the local displacement of an arbitrary point is formulated based on no...

In this paper we present a new approach for joint trajectory tracking of a single-link flexible robot manipulator. Firstly a distributed parameter dynamic model is derived using extended Hamilton Principle. Based on this model a new moment feedback trajectory tracking control scheme is designed for a single-link flexible robot manipulator having a payload at its free end. The control scheme is ...