Dynamics of multi-link manipulators with flexible links include complex high-order equations which make their control problem very challenging. This paper presents a new method for simultaneous motion and vibration control of a twolink flexible manipulator using H2/H∞ control. A multi-element finite element model of the manipulator is casted into the generalized plant model, and H2 and H∞ contr...

The active vibration suppression of a single flexible link manipulator using a piezoelectric actuator is investigated. For this purpose, a finite element (FE) model is developed for the modal and transient analysis of a cantilever beam and a flexible link manipulator. A proportional control strategy is employed in a FE model to adjust the voltage applied to the piezoelectric actuator so as to c...

This paper presents a new platform with a team of lab-scale networked mobile robotic manipulators (SumoMote) which merges a mobile manipulator with wireless mobile sensor networks. Many existing platforms built for mobile manipulation are big and expensive. Our SumoMote is built small and inexpensive for applications where quantity is more important than size. The hardware and software of the S...

The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on Lagrangianassumed modes formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applications. The final form of the equations are organized in a form similar to rigid manipulator equations. ...

A solutaon to the trajectory trackang problem for mobale manapulators as proposed that allows for the base to be anfluenced by a reactwe, obstacle avoadance behavaor. Gwen a trajectory for the grapper to follow, a trackang algorathm for the manapulator as desagned, and at the same tame the base motaons are generated an such a way that the base as coordznated wath the grapper. Furthermore, at as...

We are currently researching the possibilities that the behaviour-based paradigm has to offer when it comes to mobile manipulation. In this context, a M.Sc. project was done, in which students have implemented a demo application on our mobile manipulator, namely the opening of a door. It does not matter whether the door swings to the right or to the left, nor whether it opens inwards or outward...

This paper presents the utilization of inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. By changing the effective inertia property via null-motion, we can get the reduced inertial property of the mobile manipulat...

This paper presents a nonlinear control for trajectory tracking and vibration control of a flexible joint manipulator by using chaotic gyroscope synchronization. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. Based on Lyapunov stability theory, the nonlinear controller and some generic sufficient ...

SUMMARY The dynamic modeling and trajectory following issues are addressed for mobile modular manipulators. Simulations are performed to validate the proposed algorithms. I. INTRODUCTION Usually, modular manipulators are mounted on a fixed base whose mobility is constrained. We attach a mobile platform to the bottom of the manipulator to increase workspace. In related research work, dynamic cha...