this paper evaluates a new and simple controller design method based on qft (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. a piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. this system is modeled as a nonlinear multi-input multi-output (mimo) control systems whose inputs are two...

This paper presents a method for the on-line identification of the payload carried by a single-link flexible manipulator whose movement is constrained to the vertical plane. The vertical movement of the robot makes the effect of gravity not negligible, and determines therefore, the non-linear behaviour of the analysed system. The proposed estimator is based on the algebraic derivative approach ...

Over the past few decades a considerable number of studies have been made on impact dynamics. Zheng and Hemami discussed a mathematical model of a robot that collides with an environment (Zheng & Hemami, 1985). When a robot arm fixed on the ground collides with a hard environment, the transition from the free space to constrained space may bring instability in the control system. Therefore, the...

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

The present investigation presents a stochastic model for a flexible manufacturing system consisting of flexible machine, loading/unloading robot and an automated pallethandling device. We consider unreliable flexible manufacturing cell (FMC) wherein machine and robot operate under individual as well as common cause random failures. The pallethandling system is completely reliable. The pallet o...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. this paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called dual-arm cam-lock manipulator. the manipulator i...

The paper presents an image-guided positioning robot for a single-port brain surgery robotic manipulator. Due to its limited workspace, the robotic manipulator that performs a fine operation needs to be precisely and stably positioned near the target area. For this purpose, an accurate guidance of a positioning robot to the target position using CT images is developed. The developed brain surge...

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new slid...

this paper presents a stable new algorithm for force/position control in robot manipulators. in this algorithm, position vectors are measured by sensors and then used in the control law. since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. in this respect, force sensor is replaced by an adaptive fuzzy estimator to...