High performance robot manipulators, in terms of cycle time and accuracy, require well designed control methods, based on accurate dynamic models. Robot manipulators are traditionally described by the flexible joint model or the flexible link model. These models only consider elasticity in the rotational direction. When these models are used for control or simulation, the accuracy can be limite...

in this paper, a robust integral of the sign error (rise) feedback controller is designed for a rigid-link electrically driven (rled) robot manipulator actuated by direct current dc motor in presence of parametric uncertainties and additive disturbances. rise feedback with implicitly learning capability is a continuous control method based on the lyapunov stability analysis to compensate an add...

This paper proposes to use a non-linear observer to build the state and the external force of flexible manipulator robots during their machining (composite materials) processes or Friction Stir Welding (FSW) processes. These two different processes have a problem in common: the flexibility of the robot can not be neglected, that is to say, the errors due to the deformation of the links should b...

Modelling and identification of flexible-joint robots is required for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the dynamic parameters. For accurate simulations o...

Probabilistic approach of traffic assignment has been primarily developed to provide a more realistic and flexible theoretical framework to represent traveler’s route choice behavior in a transportation network. The problem of path overlapping in network modelling has been one of the main issues to be tackled. Due to its flexible covariance structure, probit model can adequately address the pro...

in this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. stability conditions are derived by studying unactuated dynamics and using the poincarã© map associated with periodic walking gaits. a stable gait is designed by an optimization process satisfying physical constraints and stability conditions. also, considering...

The linear control of a nonlinear response is investigated in this paper, and model the system developed validated. design has been constrained based on suggested application, wherein mass expense are parameters to be kept minimum. Through these restrictions, array potential applications for widened. structure envisioned as robot manipulator link, utilises piezoelectric elements both sensors ac...

The control of flexible link parallel manipulators is still an open area of research, endpoint trajectory tracking being one of the main challenges in this type of robot. The flexibility and deformations of the limbs make the estimation of the Tool Centre Point (TCP) position a challenging one. Authors have proposed different approaches to estimate this deformation and deduce the location of th...