Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of spa...

The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point mot...

The paper focuses on the problem of trajectory planning of flexible redundant robot manipulators (FRM) in joint space. Compared to irredundant flexible manipulators, FRMs present additional possibilities in trajectory planning due to their kinematics redundancy. A trajectory planning method to minimize vibration of FRMs is presented based on Genetic Algorithms (GAs). Kinematics redundancy is in...

This paper presents the concept of flexible type of coupling for power transmission in light load conditions. In some cases of power transmission due to manufacturing limitations and/or misalignment at the time of installation, coupling may fail. It is observed that in power transmission flexible links are used in the form of belt loops. In such a design, belt subjects to shear failure. In pres...

A methodology for the formulation of dynamic equations of motion of a serial flexible-link manipulator using the decoupled natural orthogonal complement (DeNOC) matrices, introduced elsewhere for rigid bodies, is presented in this paper. First, the Euler Lagrange (EL) equations of motion of the system are written. Then using the equivalence of EL and Newton–Euler (NE) equations, and the DeNOC m...

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...

This paper proposes a hybrid numerical method (HNM) to solve the inverse kinematics of a class of spatial flexible manipulators modeled b y mass/spring (mass-lumped stations and masslessspring fields) modeling method. HNM includes two parts: one is an implicit recursive numerical method (IRNM) which is used to f ind a better approximate solution to the inverse problem, the other is a global ite...