In this paper, we tackle the problem of nonlinear adaptive hybrid control of constrained robots with flexible links. According t o the physical properties of a flexible manipulator, a two time-scale approach, namely, singular perturbation a p proach, is further utilized for thorough analysis and general controller design. It is shown tha t asymptotic motional tracking can be effectively achieve...

This paper describes a system which uses a mobile manipulator as a teleoperated tool for accessing and manipulating remote objects, in our challenge to extend mobile robot potentials and usage in human daily life. The specific task we set up in this research is to help humans browse books located in a library from a remote location via the Internet. This task was decomposed into three major par...

Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. This paper discusses the development of robotic "assistance" capabilities to aid workers in the accomplishment of a variety of physical operations and presents various control strategies developed for vehicle-arm coordination, compliant motion tasks, and co...

This study presents a synthesis scheme on a target history for the simultaneous control of position and vibration of a space robotic manipulator with a flexible arm. As an essential problem in the manipulator with a flexible arm, its vibration is easily induced by self-motion and external disturbance. Therefore, in this study, the authors develop the long, lightweight and forceful manipulator f...

This paper presents a novel force control scheme for redundant mobile manipulators. Based on a decoupled and linearized dynamic model for integrated mobile platform and on-board manipulator, robotic tasks involving both position and output force control are discussed. Take the advantage of the kinematic redundancy of mobile manipulators, explicit force and position control at the same task dire...

Today, endoscopic surgery is widely used in the field of abdominal and urological surgeries. But it is still difficult to be applied on the tumor resection in neurosurgery because the work space is very narrow and tumor is seated deeply under normal brain. The authors developed a flexible micro manipulator for the resection of deeply seated tumor three years ago, but detail design and fabricati...

This paper describes the design and implementation of a static model used for position estimation of a flexible modular medical manipulator equipped with optic-fiber based sensors. Flexible manipulators are emerging technology in medical applications especially in minimally invasive surgery as it allows to perform the operation with tight space constraints without damaging other organs. Such op...

this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...