in present paper, a point to point optimal path is planned for a mobile manipulator with flexible links and joints. for this purpose, a perfect dynamic modeling is performed for mobile manipulators considering large deformation in links, shear effects, elastic joints, effect of gravitation, and non-holonomic constraints. to study large deformation of links, non-linear relation of displacement-s...

This paper proposes a process to design an iterative learning control (ILC) to be applied to flexible joint robot manipulators which repeats identical tasks under the same operation conditions. The proposed ILC updates the desired trajectory not the feedback control signals in order to avoid potentially destabilizing embedded controllers of the robot manipulators. To guarantee the convergence o...

ii using them to find global minimum point of seven well-known benchmark functions commonly used in development of optimisation techniques development. The results show that all ABFAs achieve better accuracy and speed compared to those of SBFA. The ABFAs are then used in modelling and control of a single-link flexible manipulator system. This includes modelling (based on linear model structures...

A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the performance may occur as references are changed. When the environment is moving, knowledge of the angle α between the contact surface and the horizontal is requi...

The problem of designing a nonlinear observer for flexible-joint manipulators using a neural network approach is considered in this paper. In the first instance, no a priori knowledge about the system dynamics is assumed in developing the basic structure of the neural observer. The recurrent neural network configuration is obtained by a combination of a multilayer feedforward network and dynami...

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...

This paper presents the dynamic model of a flexible-link, flexible-joint manipulator system with considerable stiffening effect flexible link. A gripper, along tip mass, is attached at one end By employing extended Hamilton’s principle, nonlinear governing equation motion derived several boundary constraints. Under assumption small deformation in free vibration, simplified deduced to determine ...

The authors propose a method of controlling the position of a manipulator with passive joints which have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In this paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two degre...

Since its introduction to engineering applications, fuzzy logic has attracted many researchers because of its simplicity and robustness. Experience with a system is translated into heuristic rules which can be used to control that system. This article proposes a novel method for a generalized inverse dynamics based fuzzy logic controller (FLC) of a single-link flexible manipulator. The deflecti...