The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the robot arm with an object occurs, local admittance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipu...

In this contribution we present a robot assistant consisting of a mobile platform and a manipulator to support manual workplaces in production environments. We propose a general definition of robot assistants. Two applications for the robot assistant rob@work are described – the assembly of hydraulic pumps and the assistance of manual gas metal arc welding (GMAW). A description of the hardware ...

This paper presents investigations into the development of linear quadratic regulator (LQR) robust control of a flexible link manipulator. The dynamic model of the system is developed using a finite element methods (FEM). The problems of a flexible link manipulator are uncertainties and parametric nonlinearities. Previous researches have fathom around control methods for the system, few present...

This paper presents an artificial neural networks application for a flexible process modeling. A flexible planar single-link manipulator robot is considered. The dynamic behavior of this process is described using Lagrange equations and finite elements method. The artificial neural networks are all variations on the parallel distributed processing (PDP) idea. The architecture of each network is...

In this paper, two nonlinear robust controllers for a flexible-link manipulator are presented. These controllers are derived using both sliding mode techniques and nonlinear H∞ control methodologies. The effectiveness of the presented control law are shown by simulations and experiments carried out with the flexible robot arm, an experimental setup available in our Institute Laboratory. The pro...

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

A lunar version of the Robocrane is being developed at the Robot Systems Division of the National Institute of Standards and Technology (NIST) to address the needs of NASA researchers. The NIST robot, called ROBOCRANE, has three-pairs of rigged legs instead of actuators to create a gantry. The legs are joined in a Stewart Platform configuration providing a means for canceling out rotations norm...

in present paper, a point to point optimal path is planned for a mobile manipulator with flexible links and joints. for this purpose, a perfect dynamic modeling is performed for mobile manipulators considering large deformation in links, shear effects, elastic joints, effect of gravitation, and non-holonomic constraints. to study large deformation of links, non-linear relation of displacement-s...