Abstract: Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy ...

The productivity of present day industrial robots may be hampered by phenomena such as vibrations and deformations which appear whenever they are made to move at high speeds or to carry heavy payloads. To address this problem, many researchers have studied the flexibility of robot arms. Most works, however, rely on simple one or two-link flexible arms made with extremely flexible beams which op...

This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...

A novel approach to the control of a single joint-single flexible link robot is proposed and experimentally evaluated. The control is completely signal based, and relies on joint trajectory pre-planning plus collocated vibration control of the flexible link through piezoelectric actuation. Trajectory pre-planning is a well known strategy for avoiding link vibrations during maneuvers, however it...

Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of spa...

This work addresses flexible-link robot arm control using fuzzy logic, and a singular perturbation approach. A singular perturbation approach is introduced to derive the slow and fast subsystems and thus reduce the effect of spillover. Consequently, a two-time scale fuzzy logic controller will be applied for such systems. The fast-subsystem controller damps out the vibration of the flexible str...

BACKGROUND Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for cl...