This paper presents the effects of intermediate location and time-varying end mass on the dynamic response of flexible robot manipulator with rotating-prismatic joint in tracing multi-straight-line path. The tip end of the flexible robot manipulator traces a multi-straight-line path under the action of external driving torque and axial force. Flexible arm which consist of a rotating-prismatic j...

Sungsoo Rhim School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332 Email: [email protected] NaderSadegh School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332 Email: [email protected] Command shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear ...

A simple collision detection method for a flexible link manipulator is proposed. The method only requires two strain measurements to determine the position of a collision with the flexible link. Equations which relate the force and position of contact to the strain at two points in the flexible link are derived assuming the link is at static equilibrium. Since the flexible robot is actually in ...

this paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (dlcc) for mobile-base flexible-link manipulators. in previously proposed methods in the literature of dlcc calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

This paper presents a methodology to analyze dynamics of flexible space robot using bond graph. In case of space robots the position and orientation of the satellite main body may change when the manipulator moves. Motion of the space robots also induces vibrating motions in structurally flexible manipulators. Researchers working on terrestrial flexible robot arms principally have focused on is...

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...

High performance robot manipulators, in terms of cycle time and accuracy, require well designed control methods, based on accurate dynamic models. Robot manipulators are traditionally described by the flexible joint model or the flexible link model. These models only consider elasticity in the rotational direction. When these models are used for control or simulation, the accuracy can be limite...

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...