This paper solves the problem of high-precision and flexible positioning mobile manipulators. The target ball tool is designed to be installed on manipulator calibrated. Then use binocular vision locate realize manipulator. experimental measurement accuracy better than other methods. method designing adopting has high precision low cost.

A new generation of industrial quality robotic manipulators is currently being released on the international market. State of the art over-actuated manipulators are now starting to be flanked with a significant proprioceptive capacity (i.e. force/torque sensing at each joint). Joint proprioception can be further extended by force/torque sensing at the robot’s wrist and multi-fingered robotic ha...

Optimal load of mobile robots, while carrying a load with predefined motion precision is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given end-effector trajectory are take...

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 ...

This chapter provides a general description of a variational graph-theoretic formulation for simulation of flexible multibody systems (FMS) which includes a brief review of linear graph principles required to formulate this algorithm. The system is represented by a linear graph, in which nodes represent reference frames on flexible bodies, and edges represent components that connect these frame...

Flexible robotics are capable of navigating through unstructured environments such as a human body, where it can safely conform around environmental obstacles and constraints due to its compliant body. Because these environmental disturbances can affect the configuration of the robot in an unknown and unpredictable manner, conventional kinematicsand mechanics-based control methods can be inaccu...

I n this work, we consider a class of robotic manipulators generally termed “hyper-redundant”. Spec<fically, we seek to examine some 0.f the kinematic properties of ‘%ontinuum” hyper-redundant robots. Unlike the case with rigidlink’robots, there is n o commonly accepted formula ,for describing continuum robot kinematics. Although these manipulators are continuously flexible, they are actuated w...

The problem of designing a nonlinear observer for flexible-joint manipulators using a neural network approach is considered in this paper. In the first instance, no a priori knowledge about the system dynamics is assumed in developing the basic structure of the neural observer. The recurrent neural network configuration is obtained by a combination of a multilayer feedforward network and dynami...

Wheeled mobile manipulators utilize both the locomotion capabilities of the wheeled platform and manipulation capacity of the arm. While the modelling and control of such systems have previously been studied, most of them have considered robots with rigid suspension and their wheels are subject to pure rolling conditions. To relax the aforementioned limiting assumptions, this research addresses...

here are many contexts, from space structures to disk drive heads, from medical mechanisms to long-arm manipulators, from cranes to robots, in which it is desired to achieve rapid and accurate position control of a system end-point by an actuator working through a flexible system. The system’s actuator must then attempt to reconcile two, potentially conflicting, demands: position control and ac...