In the aim of improving safety and efficiency of robotic manipulators, links with reduced bulkiness and weight can be integrated to the robot. As a result, the manipulator becomes more flexible and might encounter vibration issues that have to be well controlled. Such flexible manipulators are said to be underactuated since they potentially have an infinite number of degrees of freedom (dof) an...

Abstract: The control of liquid level in tanks and flow between tanks is a basic problem in the process industries. Almost all theprocesses in the industries are non-linear in nature. Designing a controller for a nonlinear process is an important problem. The problem of level control in interacting tank processes are system dynamics and interacting characteristics. In interacting process, dynam...

Control systems are ubiquitous in modern technology. The use of feedback control can be found in systems ranging from simple thermostats that regulate the temperature of a room, to digital engine controllers that govern the operation of engines in cars, ships, and planes, to ight control systems for high performance aircraft. The rapid advances in sensing, computation, and actuation technologie...

time-delays are important components of many dynamical systems that describe coupling or interconnection between dynamics, propagation or transport phenomena, and heredity and competition in population dynamics. the stabilization with time delay in observation or control represents difficult mathematical challenges in the control of distributed parameter systems. it is well-known that the stabi...

High performance robot manipulators, in terms of cycle time and accuracy, require well designed control methods, based on accurate dynamic models. Robot manipulators are traditionally described by the flexible joint model or the flexible link model. These models only consider elasticity in the rotational direction. When these models are used for control or simulation, the accuracy can be limite...

This work investigates feedforward control of elastic robot structures. A general serial link elastic robot model which can describe a modern industrial robot in a realistic way is presented. The feedforward control problem is discussed and a solution method for the inverse dynamics problem is proposed. This method involves solving a differential algebraic equation (DAE). A simulation example f...

Most of the methods to date on bilateral control of nonlinear teleoperation systems lead to nonlinear and coupled closed-loop dynamics even in the ideal case of perfect knowledge of the master, the slave, the human operator and the environment. Consequently, the transparency of these closed-loop systems is difficult to study. In comparison, inverse dynamics controllers can deal with the nonline...

Internal cognitive models are useful methods for the implementation of motor control [1]. The approach can be applied more generally to any intelligent adaptive control problem where the dynamics of the system (plant) is unknown and/or changing. In particular, paired inverse-forward models have been shown successfully to control complex motor tasks using robotic manipulators [1]. One way this i...