In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...

This paper presents a comparative study of four control strategies for a flexible joint space manipulator. The considered control strategies consist in the classical Slotine and Li algorithm, a simple proportional derivative controller, a singular perturbation-based controller and a nonlinear backstepping controller. All control methodologies are assessed in numerical simulations for endpoint p...

The bolt joint is the key component connecting rigid moving base body and flexible manipulator. dynamic characteristics of manipulator under elastic constraint are analyzed, action mechanism on frequency vibration mode revealed. Considering effects line torsion constraint, model established. Based principle virtual work, boundary constraints end free established, analytical equation expression ...

The problem of impact dynamics of space robotic systems that consist of a rigid manipulator supported by a flexible deployable structure is addressed. Due to joint back-drivability and the dynamic coupling between the manipulator and its supporting structure, unknown motion of the system occurs after it makes impulsive contact with the environment. A method that uses the system's dynamic model ...

Rehabilitation Exoskeleton is becoming more and important in physiotherapists’ routine work. To improve the treatment performance, such as reducing recovery period and/or monitoring reacting to unpredictable situations, rehabilitation manipulators need help patients various physical trainings. A special case of active disturbance rejection control (ADRC) applied govern a proper realisation basi...

This paper discusses a general formulation both in kinematics and dynamics for under-actuated manipulator systems, represented by a freejoint manipulator, a free-floating manipulator, a flexible-base manipulator and a flexible-arm manipulator. We highlight the fact that a concept, originally developed for a particular system, is applicable to the others as well because the dynamic equations of ...

Abstract: The demand for high speed robotic manipulators with little or no vibrations has been a challenging research problem. In this paper, a position control for a 2 DOF single link flexible manipulator with joint elasticity is studied. It is shown that using the flatness control approach, faster response and less oscillations and overshoots can be achieved. The flat output of the linearized...

When we control a flexible manipulator based on a dynamic model, we need to estimate the state variables with accuracy. In the case of rigid manipulators, the state variables consist of joint angles and their velocities, which are measured easily by encoders, potentiometers, tachometers, and so on. In the case of flexible manipulators, however, the state variables also include elastic deformati...