Abstract -This paper proposes a new approach to feedback linearization of flexible link robots which have uncertain modeling. The flexibility of joints is performed by use of the solenoid nonlinear springs, which have damper property. The simplified nonlinear H∞ controller is used to control linearized flexible link robots. The new continues and smooth model of frictions is used for modeling th...

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...

The locomotion of quadruped and humanoid robots shares some characteristics with the one of animals and humans: a kinematic tree structure and a free-floating base, switches in the model due to different contact situations and a high number of degrees of freedom consisting of many links and many actuated joints. One main difference is in actuation: while robots commonly are driven by (at most) ...

although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...

Robot manipulators, in general, are required to have the same number of actuators as the number of joints to obtain full control. In the case of under-actuated robots, this condition is not satisfied which make the behavior of that class of robots very difficult to be predicted. Under-actuated robots can be a better design choice for robots in space and other industrial applications, their adva...