the kinematics and dynamics of two industrial cooperating robots are presented in this paper. the noc (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. the joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. to this end, minimizing the cr...

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

Optimal load of mobile robots, while carrying a load with predefined motion precision is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given end-effector trajectory are take...

this paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. a reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. the model features extensive spine deformation during high-speed bounding, resembling those observed in a cheetah. fixed points corresponding to cyclic bounding motions are found and calcul...

The kinematics and dynamics of two industrial cooperating robots are presented in this paper. The NOC (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. The joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. To this end, minimizing the cr...

The kinematics and dynamics of two industrial cooperating robots are presented in this paper. The NOC (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. The joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. To this end, minimizing the cr...

Abstract -This paper proposes a new approach to feedback linearization of flexible link robots which have uncertain modeling. The flexibility of joints is performed by use of the solenoid nonlinear springs, which have damper property. The simplified nonlinear H∞ controller is used to control linearized flexible link robots. The new continues and smooth model of frictions is used for modeling th...

this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

The robotics literature of the last two decades contains many important advances in the control of flexible joint robots. This is a survey of these advances and an assessment for future developments, concentrated mostly on the control issues of flexible joint robots.

In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...