Laparoscopic single-port surgery and natural orifice transluminal endoscopic surgery (NOTES) are two novel procedures with the aim to reduce trauma to the patient. Both of them are promising, but still highly dependent on the development of new, adequate support systems that are indispensable in order to perform such demanding interventions. Primarily, the requirements of a single-port system r...

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...

Near-minimum-time control of flexible manipulators can be accomplished by designing a controller that tracks a reference maneuver. The control method presented here uses a near-minimum-time rigid-link reference maneuver to generate reference control torques and a Liapunov controller to make the flexible manipulator track the reference maneuver while reducing and eventually eliminating flexible ...

The dynamics and control of flexible link manipulators (FLMs) are increasing in industrial robotics research. In which the problem inverse is a that has been studied little no general solution. this paper, an approximation method presented to calculate reverse serial with rigid-flexible links. linearization motion equations for translation rotation two-link manipulator (manipulator T-R) address...

In an effort to offer students a more tangible understanding of system modeling concepts, the Quanser/MATLAB hardware interface has been employed at USNA in the laboratory setting of an undergraduate modeling course. Specifically, the SIMULINK-based interface has enabled students to model various physical systems and then compare the system performance predicted by their simulation to the actua...

The method of conventional control of a manipulator, without considering varying effects of robot dynamics, results in degraded response with unnecessary vibrations thus limiting the precision and speed of the end effector. As the column joint is subjected to worst dynamic conditions when all the axes are in motion, simulation of position response of column joint of a 60-Kg payload 4-axes SCARA...

In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...

Current industrial robots are made very heavy to achieve high Stiffness which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the required energy to move the system. The requirement for higher speed and better system performance makes it necessary to consider a new generation of light weight manipulators as an alternative to today's massive in...