Waste tank Cleanup is a current application area for robotics in the United States. As a result of tank access restrictions, (e.g., limited number and size of manholes), designs for several current waste Cleanup manipulator systems have long links with small cross-sections and variable lengths. In addition, as a result of anticipated payload capacity, these manipulator designs are hydraulically...

This work treats the problem of dynamic modeling and state space approximation for robotic manipulators with flexibility. Case studies are planar manipulators with a single flexible link together with clamped-free ends and tip mass conditions. In this paper, complete dynamic modeling of the flexible beam without premature linearization in the formulation of the dynamics equations is developed, ...

In this paper new method for vibration control of Flexible Base Mobile Manipulator (FBMM) under constrained motion control were proposed. When robotic manipulator with base flexibility contacts environment under impedance control, vibration occurs at transient and contact moments. Vibration causes position and force inaccuracy, instability and servicing requirements of equipment. Previous activ...

In the present paper, we expand information about the conditions for passing through Type 2 singular configurations of a parallel manipulator. It is shown that any parallel manipulator can cross the singular configurations via an optimal control permitting the favorable force distribution, i.e., the wrench applied on the end-effector by the legs and external efforts must be reciprocal to the tw...

This paper describes a method and an experimental system permitting a severely handicapped operator, such as a quadriplegic, to control a telenianipulator . These developments form the first phase in the design of the Spartacus "telethesis" . This is a manipulator system specifically developed for a quadriplegic person. Manipulator control experiments which are discussed concern four quadripleg...

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 ...