this paper evaluates a new and simple controller design method based on qft (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. a piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. this system is modeled as a nonlinear multi-input multi-output (mimo) control systems whose inputs are two...

Controlling a chain of tethered mobile robots (TMRs) can be challenging task. This kind system considered kinematically as an open-chain robotic arm where the are revolute joint and tether is variable length link, using prismatic joint. Thus, TMRs problem decoupled into two parallel problems: equivalent manipulator control shape computation. Kinematic redundancy exploited in order to coordinate...

In this paper, a dynamical model-based SMC (Sliding Mode Control) is proposed fortrajectory tracking of a 3-RPS (Revolute, Prismatic, Spherical) parallel manipulator. With ignoring smallinertial effects of all legs and joints compared with those of the end-effector of 3-RPS, the dynamical model ofthe manipulator is developed based on Lagrange method. By removing the unknown Lagrange multipliers...

We focus on the development of modular and recursive formulations for the inverse dynamics of parallel architecture manipulators in this paper. The modular formulation of mathematical models is attractive especially when existing sub-models may be assembled to create different topologies, e.g., cooperative robotic systems. Recursive algorithms are desirable from the viewpoint of simplicity and ...

To address the challenge of precise, dynamic and versatile aerial manipulation, we present an manipulation platform consisting a parallel 3-DOF manipulator mounted to omnidirectional tilt-rotor vehicle. The general modeling on floating base is presented, which motivates optimization detailed design parameters components. Inverse kinematic control coupled pose controller with compensation term, ...

The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other tec...

the large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. most of this computational burden is due to calculation of switching points. in this paper a learning algorithm is proposed for finding the switching points. the method, which can be used for both ...

(2012). A novel three degrees of freedom partially decoupled robot with linear SUMMARY In this work, a new translational robot formed with two different parallel manipulators with a common control point is introduced. An asymmetric parallel manipulator provides three translational degrees of freedom to the proposed robot while the orientation of the end-effector platform is kept constant by mea...

This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...

In a number of industrial, space, or mobile systems applications, reaction forces and moments transmitted by a manipulator to its base are undesirable. Based on force and moment transmission analysis, a three DOF redundant manipulator design is selected aiming at reactionless motions. Dynamic reaction forces are eliminated by using force balancing. Reaction moments are eliminated by following r...