This paper presents a methodology to analyze dynamics of flexible space robot using bond graph. In case of space robots the position and orientation of the satellite main body may change when the manipulator moves. Motion of the space robots also induces vibrating motions in structurally flexible manipulators. Researchers working on terrestrial flexible robot arms principally have focused on is...

This dissertation addresses the analysis and control of variable stiffness actuated robots aiming at precise, sensitive, robust, and dynamic interaction with their environment and especially humans. The focus is the adjustment of impedance properties, namely adjusting the robot equilibrium position, the stiffness, and damping. Highest demands are met by the development of new control concepts a...

In this work a Cartesian impedance controller for flexible joint robots is applied in a mobile manipulation setup for opening a door. The considered mobile manipulation system is a combination of the DLR-Lightweight-Robot-II and the DLR-Hand-II with a mobile platform. The presentation focuses on the Cartesian impedance control of the arm with special emphasis on the treatment of the joint elast...

A large component flexible manufacturing system provides more application scenarios for industrial robots, and, in turn, these robots exhibit competitive advantages machining applications. However, the structural characteristic of low stiffness is main obstacle robot. Aiming at obtaining sufficient whole process, this paper focuses on robot placement optimization components. The geometric cente...

This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot perfor...

A simple method of handling objects by cooperation of three PID positioncontrolled robots is proposed. In order to handle single object by multiple position-controlled robots, mechanical compliance is installed into each robot to avoid excessive inner forces due to the mutual positioning errors. First, necessary kinematic conditions required for installed mechanical compliance is reviewed. Then...

The presence of flexibilities in rotational joints can limit the kinematic performances manipulators doing high speed tasks as Pick and Place. problem addressed this work concerns vibration control serial robots with flexible performing Place order to improve productivity. Based on a dynamic model robot joints, model-based law is proposed its associated tuning methodology. then key point our Th...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

Many key factors driving the Fourth Industrial Revolution (Industry 4.0) are to construct industrial robots become increasingly intelligent, multi-functional, flexible, and efficient, as well a complementing platform for collaboration with people. The latest generation of intelligent robots, known Cobots (collaborative robots), can now cooperate stand side-by-side humans in safe way perform man...