In the aim of improving safety and efficiency of robotic manipulators, links with reduced bulkiness and weight can be integrated to the robot. As a result, the manipulator becomes more flexible and might encounter vibration issues that have to be well controlled. Such flexible manipulators are said to be underactuated since they potentially have an infinite number of degrees of freedom (dof) an...

A flexible microactuator (FMA) driven by an electro-pneumatic (or electro-hydraulic) system has been developed. The FMA has three degrees of freedom: pitch, yaw, and stretch; and these are suitable movements for miniature robotic mechanisms such as fingers, arms or legs. The construction is of fiber-reinforced rubber and the mechanism is very simple. Gentle miniature robots with no conventional...

We present a manipulator placement algorithm for minimizing the length of the manipulator motion performing a visit-point task such as spot welding. Given a set of points for the tool of a manipulator to visit, our algorithm finds the shortest robot motion required to visit the points from each possible base configuration. The base configuration resulting in the shortest motion is selected as t...

(FFNN) is used to compensate for the robot dynamics. The FFNN computes the required torques to drive the robot manipulator to achieve desired tracking. The stability of combined PI kinematic and FFNN computed torque is proved by Lyapunov theory. Simulation results are carried out for 3 DOF articulated robot manipulator to evaluate the controller performance.

Inverse kinematics analysis plays an important role in developing a robot manipulator. But it is not too easy to derive the inverse kinematic equation of a robot manipulator especially robot manipulator which has numerous degree of freedom. This paper describes an application of Artificial Neural Network for modeling the inverse kinematics equation of a robot manipulator. In this case, the robo...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...

In recent years a lot of versatile robots have been developed to work in environments with human. However they are not sufficiently flexible nor safe in terms of interaction with human. In our approach we focused on hand and eye coordination in order to establish a flexible robot control, in which a robot recognizes its environment from the input camera images and equips a soft contacting strat...

The control circuit for a single-link manipulator robot constructed on a proportional-diierential controller is considered in the presence of various random nonlinear continuous and discontinuous perturbations. Results on diierent kinds of stability are obtained. Computer simulations of the motion of a robot hand for an actual robot-manipulator are presented.

A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method used with Lagrangian formulation to obtain equations motion. Explicit motion are derived for a three-link case assuming two vibration each link. eigenvalue problem associated mass boundary conditions, which changes robot configuration and payload, discussed. time-domain simulation re...