In order to enable on-purpose robotic impact tasks, predicting joint-velocity jumps is essential enforce controller feasibility and hardware integrity. We observe a considerable prediction error of commonly-used approach in robotics compared against 250 benchmark experiments with the Panda manipulator. reduce average by 81.98% as follows: First, we focus on task-space equations without invertin...

This paper describes a transputer-based parallel controller that was developed in the Center for Intelligent Systems at Vanderbilt University to control the Soft Arm robot. The Soft Arm robot is used in a robotic aid system, called ISAC, for the physically challenged. The controller uses a network of T800 transputers as the parallel processing nodes. The controller is composed of a master node,...

In this paper a new control strategy is introduced for tip trajectory tracking of flexible-joint manipulators driven by harmonic drives. The proposed controller incorporates friction compensating torque (FCT) and composite controller torque (CCT), which compensate for the friction in the harmonic drives and the flexibility of the joints, respectively. The FCT is a new controller which includes ...

With a compliant structure and excellent bending properties, continuum robot has hyper-redundant degrees of freedom, and can be used in space-constrained environments as the aircraft fuel tank. Therefore, a continuum robot is designed to help crews inspect aircraft fuel tanks, which can improve maintenance efficiency and reduce the intensity of crews. According to the requirements of aircraft f...

This paper provides an overview of the reinforcement learning and optimal adaptive control literature and its application to robotics. Reinforcement learning is bridging the gap between traditional optimal control, adaptive control and bio-inspired learning techniques borrowed from animals. This work is highlighting some of the key techniques presented by well known researchers from the combine...

Space manipulators mounted on an on-o thruster-controlled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipulator joint and link exibility become important, for they can result in payloadattitude controller fuel-replenishing dynamic interactions. In this paper, the dynamic behavior of a exible-joint manipulator on a freeying b...

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...

In this work, the interaction between the semi-circular space and the neighboring joint with and without the presence of rock bolts was investigated using the particle flow code (PFC) approach. For this purpose, firstly, the calibration of PFC was performed using both the Brazilian experimental test and the uniaxial compression test. Secondly, a numerical model with the dimension of 100 m...

T HE benefits of lightweight space robotic manipulators are gained at the expense of higher elasticity in the joints. This leads to a more complex dynamic behavior. The additional flexible dynamics introduce two more state variables for each joint, which implies that the description of the complete dynamics model (including joint elasticity) requires four states for each joint: position and vel...