نتایج جستجو برای: flexible link robot

تعداد نتایج: 402245  

2012
Rahma Boucetta Mohamed Naceur Abdelkrim

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...

Journal: :JCP 2012
Dexu Geng Xiaomin Liu Jintao Zhang Yunwei Zhao Guilan Zhang

To improve the operation and the flexibility of the robot hand, in this paper we presented a new type pneumatic flexible robot hand based on the pneumatic artificial muscles and active flexible bending joints which developed in the previous research. The robot hand is imposed of five three-joint fingers; the middle finger is on the datum axis with the other four fingers orthogonal and symmetric...

The aim of this study is to employ the novel Adaptive Network-based Fuzzy Inference System to optimize the torque applied on the knee link of a rehabilitation robot. Given the special conditions of stroke or spinal cord injury patients, devices with minimum error are required for performing the rehabilitation exercises. After examining the anthropometric data tables of human body, parameters su...

Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...

In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...

Journal: :Electronics 2021

A recurrent neural network (RNN) and differential evolution optimization (DEO) based nonlinear model predictive control (NMPC) technique is proposed for position of a single-link flexible-joint (FJ) robot. First, simple three-layer with rectified linear units as an activation function (ReLU-RNN) employed approximating the system dynamic model. Then, using RNN (MPC) scheme, DEO NMPC controller d...

2008
Sung Jin Yoo Jin Bae Park Yoon Ho Choi

Abstract: A new output feedback controller design approach for flexible-joint (FJ) robots via the observer dynamic surface design technique is presented. The proposed approach only requires the feedback of position states. We first design an observer to estimate the link and actuator velocity information. Then, the link position tracking controller using the observer dynamic surface design proc...

Journal: :IEEE robotics and automation letters 2022

The control of articulated soft robots, i.e. robots with flexible joints and rigid links, presents a challenge due to their intrinsic elastic elements nonlinear force-deflection dependency. This letter first proposes discrete-time delayed unknown input-state observer based on nominal robot model that reconstructs the total torque disturbance vector, resulting from imperfect knowledge characteri...

2008
ALESSANDRO DE LUCA

The regulation of motor variable positions in robots with elastic elements has been solved using PD linear controllers in the absence of gravity and with the addition of a model-based feedforward term when gravity is present. When the mass of the links is not known, an iterative learning scheme can be derived to obtain the same result for both joint elasticity and link flexibility. An extension...

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