The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in the hot environment around the furnace is a potentially dangerous and time consuming task for the workers. Therefore, it is ess...

Over the last years, flexible structured manipulators have increased in popularity in aeronautical research because of their advantages compared to conventional rigid structures. Unfortunately, the flexibility of the structure has one big disadvantage; it causes undesired motions of the spacecraft. The flexibility of the structure generates structural vibrations that strongly interferes with ri...

This paper presents investigations into the development of linear quadratic regulator (LQR) robust control of a flexible link manipulator. The dynamic model of the system is developed using a finite element methods (FEM). The problems of a flexible link manipulator are uncertainties and parametric nonlinearities. Previous researches have fathom around control methods for the system, few present...

As has been realized, the flexible-link manipulators have attracted more and more attention from robot control theorists and/or robot users because of its various potential advantages. But since the control degree-of-freedom is much less than that of the system, many control strategies which succeed in the conventional rigid robot control cannot be directly used in the flexible robot control pr...

Flexible-link robots comprise an important class of systems that include lightweight arms for assembly, civil infrastructure, bridge/vehicle systems, military applications and largescale space structures. Modelling and vibration control of flexible systems have received a great deal of attention in recent years (Kanoh, Tzafestas, et. al., 1986), (Rigatos, 2009), (Rigatos, 2006), (Aoustin, Flies...

Minimally invasive surgery systems typically involve thin and cabledriven surgical instruments. This introduces link and joint flexibility in the slave robot of a master-slave teleoperation system, reducing the effective stiffness of the slave and the transparency of teleoperation. In this paper, we analyze transparency under slave link and joint flexibility (tool flexibility). We also evaluate...

This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance co...

Abstract: This work describes the modeling and control of an experimental platform associated to a single link flexible robot, whose motion is restricted to an horizontal plane, thus neglecting the gravity effects. The modeling problem is addressed using the so-called Euler-Bernoulli beam equation. The design, construction and integration of an experimental set-up developed for this work is als...

A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method used with Lagrangian formulation to obtain equations motion. Explicit motion are derived for a three-link case assuming two vibration each link. eigenvalue problem associated mass boundary conditions, which changes robot configuration and payload, discussed. time-domain simulation re...

This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...