Abstract The paper presents a development of an automated computational procedure for constrained dynamics (CoPCoD) dedicated to derivation dynamical models mechanical systems, e.g. manipulators, both ground and space or mobile robotic which can be composed rigid flexible links. They may subjected constraints, are referred as programmed, come from performance requirements, work services system ...

In this article, we discuss industrial robot characteristics of accuracy and repeatability. The factors that affect these characteristics are identified, and an error tree is developed. Subsequently, the accuracy and repeatability are investigated utilizing the Denavit-Hartenberg kinematics parameters, the homogeneous transformation matrix, and the differential transformation matrix theory, and...

This paper proposes a process to design an iterative learning control (ILC) to be applied to flexible joint robot manipulators which repeats identical tasks under the same operation conditions. The proposed ILC updates the desired trajectory not the feedback control signals in order to avoid potentially destabilizing embedded controllers of the robot manipulators. To guarantee the convergence o...

The possibility of employing internal wall as mass absorber in rectangular water storage tanks subjected to harmonic ground motion excitation is investigated in this paper. Internal walls are used in these tanks usually for service performance purposes, which could be used as mass absorber to control seismic demand on tank's exterior walls. Derivation of the response of the coupled system inclu...

Coordinating two robot manipulators to handle flexible materials has a wide range of applications in the manufacturing industry. However, this problem has not been seriously addressed until recently. The two robot manipulators have to follow complicated trajectories to maintain a minimum interaction force with the flexible beam. These trajectories are very complicated and not suitable for real ...

In this paper, a mathematical model of flexible single link robotic manipulator that has a rotational base and translational motion has been developed using lagrangian method. The control strategies like PID, LQR and State feedback controller have been implemented for controlling the tip position of flexible single link robotic manipulators through MATLAB. State feedback controller uses pole pl...

Title Type control of flexible link manipulators using neural networks PDF control of flexible link manipulators using neural networks 1st edition PDF control of robot manipulators in joint space advanced textbooks in control and signal processing PDF constructive neural networks PDF digital neural networks PDF complex valued neural networks PDF control of redundant robot manipulators theory an...

The rapid growth of space utilization requires extensive construction, and maintenance of space structures and satellites in orbit. This will, in turn, substantiate application of robotic systems in space. In this paper, a near-minimum-time optimal control law is developed for a rigid space platform with flexible links during an orientating maneuver with large angle of rotation. The time opti...