snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

In this paper the control of flexible joint manipulators is studied in detail. The model of N -axis flexible joint manipulators is derived and reformulated in the form of singular perturbation theory and an integral manifold is used to separate fast dynamics from slow dynamics. A composite control algorithm is proposed for the flexible joint robots, which consists of two main parts. Fast contro...

In this paper we describe a general passivity based framework for the control of flexible joint robots. Herein the recent DLR results on torque-, position-, as well as impedance control of flexible joint robots are summarized, and the relations between the individual contributions are highlighted. It is shown that an inner torque feedback loop can be incorporated into a passivity based analysis...

Hybrid position/force control enables a robot to apply specified forces to a constraint while moving along a prescribed path. Flexibility of the motor transmissions (joint flexibility) is a major concern in the design of hybrid controls, particularly with regard to system stability. While much work on hybrid control has been toward the development of advanced schemes specifically for flexible-j...

By relying on the input–output feedback linearization approach, a novel adaptive controller for flexible joint robots is proposed in this work. First, model-based developed to get structure that useful development of controller. The version by using two techniques. To stabilize output function, an neural network used, which approximates non-linear function contains uncertainties. desired rotor ...

Robot viewers are an important tool for robot developers, programmers and users. This article presents interactive visual features that can be used for robot viewers, including rotating arrows for torque controlled serial robots and special positioned textfields for numerically displaying joint parameters. The presented features support intuitive interaction modes such that the displayed conten...

In this paper, a novel direct adaptive fuzzy system is proposed to control flexible-joint robots including actuator dynamics. This design includes two interior loops. The inner loop controls the motor position using the proposed approach, while the outer one controls the joint angle of robots using a proportional-integralderivative (PID) control law. One novelty of this paper is the use of a pa...

SUMMARY The question of control and stabilization of flexible space robots is considered. Although, this approach is applicable to space robots of other configurations, for simplicity, a flexible planar two-link robot, mounted on a rigid floating platform, is considered. The robotic arm has two revolute joints and its links undergo elastic deformation in the plane of rotation. Based on nonlinea...

Based on recent advances in contraction methods in systems and control, in this paper we present the virtual differential passivity based control (v-dPBC) technique. This is a constructive design method that combines the concept of virtual systems and of differential passivity. We apply the method to the tracking control problem of flexible joints robots (FJRs) which are formulated in the port-...