Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and product quality. Other reasons for using industrial robots are cost saving, and elimination of hazardous and unpleasant work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot ...

Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot perfor...

As the key connecting part of rigid flexible coupling manipulator, structural dynamic characteristics bolted joint are analyzed by using simulation technology pro/e and ANSYS. Based on spring equivalent principle, finite element model bolt is established, relationship equation between contact surface pressure preload derived, its stress state analyzed; micro convex deformation Hertz theory, tan...

Flexibility at the joint of a manipulator is an intrinsic property. Even “rigid-joint” robots, in fact, possess a certain amount of flexibility. Previous experiments confirmed that joint flexibility should be explicitly included in the model when designing a high-performance controller for a manipulator because the flexibility, if not dealt with, can excite system natural frequencies and cause ...

This paper presents a practical study on how to improve the ℋ∞ performance and meet input–output constraints of two-degrees-of-freedom (DOF) flexible-joint manipulator system (FJMS) with parameter uncertainties external disturbances. For this reason, robust constrained moving-horizon controller is designed while still satisfying uncertain system. First, controlled model two-DOF FJMS established...

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...