This paper proposes a method for the identiŽ cation of dynamics and control of a multilink industrial robot manipulator using Runge–Kutta–Gill neural networks (RKGNNs). RKGNNs are used to identify an ordinary differential equation of the dynamics of the robot manipulator. A structured function neural network (NN) with sub-networks to represent the components of the dynamics is used in the RKGNN...

In this paper, motion control of electrical driven free floating space manipulator is considered.The dynamics of the free-floating space manipulator are derived based on Virtual Manipulator Approach(VMA),which allows us to develop controller in joint space. Then a proportional plus derivative feedback control system with disturbance observer(DOB)are employed to compensate joint coupling,unmodel...

T h e control of a dextrous manipulator mounted o n a flexible structure is discussed. Using the concept of Reaction Null Space, the manipulator dynamics is decoupled f r o m the base dynamics. As a consequence of the decoupling, feedback control gains f o r structural vibration suppression and manipulator end-point control can be determined in a straightforward manner. W e examine experimental...

To coordinate the robot manipulator along the desired trajectory, the exact model of the dynamics is required. The added mass and added moment of inertia, buoyancy, drag force, and friction mainly affect the dynamics of the undersea robot manipulator, and they are quite complex and unknown. In this reason, the exact model of the undersea robot manipulator is difficult to obtain. In this paper, ...

The In this paper a novel hybrid evolutionary algorithm (HEA) method is used to find optimal feedback gains for inverse dynamics controllers. It is shown that HEA efficiently finds the optimal feedback gains to improve the performances of inverse dynamics controllers for end-effector tracking control in highly complex, nonlinear, multi-arm manipulator systems. The feedback gain tuning is studie...

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new slid...

in present paper, a point to point optimal path is planned for a mobile manipulator with flexible links and joints. for this purpose, a perfect dynamic modeling is performed for mobile manipulators considering large deformation in links, shear effects, elastic joints, effect of gravitation, and non-holonomic constraints. to study large deformation of links, non-linear relation of displacement-s...

I%e-jlying space manipulators have a symmetry not normally encountered in terrestrial . . manipulators, arising from the freedom oj choice jor the manipulator base-body. This paper analyzes the ndationship between this natuml symmetry and the dynamical equations oj space manipulators. The symmetry is used to develop a new formulation oj the manipulator dynamics in which two independent O(JU) ~c...