Vibration is an unwanted phenomena and difficult to handle in the control of flexible manipulators and it becomes more difficult with increased in the payload values to the system. In this work two control schemesfuzzy logic control and pole placement control are designed and compared for the control of both vibration and tip deflection which occurs during its operation as a result of both rigi...

An eye-in-hand system visually tracking objects can fail when the manipulator encounters a kinematic singularity or a joint limit. A solution to this problem is presented in which objects are visually tracked while the manipulator simultaneously avoids kinematic singularities and manipulator joint limits by moving in directions along which the tracking task space is unconstrained or redundant. ...

In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering potential human robot accidental collision, combined safety index (MSI) and body injury thresholds, speed are optimized advance. Secondly, using hyperbolic tangent function for refer...

in industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....

In this paper, motion control of electrical driven free floating space manipulator is considered.The dynamics of the free-floating space manipulator are derived based on Virtual Manipulator Approach(VMA),which allows us to develop controller in joint space. Then a proportional plus derivative feedback control system with disturbance observer(DOB)are employed to compensate joint coupling,unmodel...

The active vibration suppression of a single flexible link manipulator using a piezoelectric actuator is investigated. For this purpose, a finite element (FE) model is developed for the modal and transient analysis of a cantilever beam and a flexible link manipulator. A proportional control strategy is employed in a FE model to adjust the voltage applied to the piezoelectric actuator so as to c...

The use of two or more robots in a common workspace is essential to expand the field of potential applications. This paper presents a distributed approach for executing task-level programs for cooperating manipulators or one arm systems with many degrees of freedom. At task level, only the movement of the objects to be manipulated is specified. The according manipulator motions are then calcula...

The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on Lagrangianassumed modes formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applications. The final form of the equations are organized in a form similar to rigid manipulator equations. ...

conclusions use of flexible joint in the exhaust system leads to conversion of linear vibration to non-linear one, resulting in significant reduction of noise levels. results by using this new exhaust at speed levels of 1000, 2000, 3000, 4000, and 5000 rpm, we had respectively 3.9, 6.8, 7.4, 5.6, and 5 dba decreases in total sound level pressure. objectives this study aimed to reduce motorcycle...

The use of robot systems with many degrees of freedom is essential to expand the field of potential applications. In this paper a distributed approach for executing task-level programs for cooperating manipulators or one arm systems with many degrees of freedom is presented. At task level, the movement of the objects to be manipulated is specified. The according manipulator motions are then cal...