In this paper, we present a neural network based control scheme for endeffector path tracking control of a system consisting of a rigid micro manipulator attached at the end of a flexible macro manipulator. The objective is to suppress vibrations in the macro manipulator and at the same time achieve desired motions of the end-effector of the micro manipulator. A two-layer feedforward neural net...

Early in calendar year 2004, TPG Applied Technology will deliver two manipulator systems to the Spallation Neutron Source (SNS) project in Oak Ridge, Tennessee, for use as remote maintenance systems when the SNS becomes operational in 2006. One of these manipulator systems will be a boom system mounted on a pedestal with a dual-arm dexterous manipulator mounted on the end of the stick. The othe...

This paper presents a control scheme,for obtaining high maneuverability of underwater robot manipulators mounted on a remotely operated vehicle (ROV). The motions of an underwater manipulator can aflect the attitude and position of the ROV which should remain stationary in seabed operation. To compensate for the dynamic effect of the underwater manipulator on the ROY force-torque (F/T) informat...

Autonomous distributed control (ADC) is one of the most attractive approaches for more versatile and autonomous robot systems. The paper proposes a parallel and distributed trajectory generation method for redundant manipulators through cooperative and competitive interactions among subsystems composing the ADC that is based on a concept of virtual arms. The virtual arm has the same kinematic s...

In this note, we show that the impedance control strategy proposed in the paper is not feasible from practical implementation point of view. Next, a robust impedance controller is proposed for electrically driven robots using Fourier series (FS). The fact that robots' actuators have limited voltage is also considered in controller design procedure. In comparison with other impedance controllers...

This paper addresses the problem of formulation of a unified dynamic model for sundry robotic manipulator systems derived from the first principle of mechanics instead of the existing formulation based on linear separability principle. It provides a systematic derivation, evaluation and subsequent conceptual interpretation of manipulator dynamics model. Further, it analyzes the generality of th...

T h e control of a dextrous manipulator mounted o n a flexible structure is discussed. Using the concept of Reaction Null Space, the manipulator dynamics is decoupled f r o m the base dynamics. As a consequence of the decoupling, feedback control gains f o r structural vibration suppression and manipulator end-point control can be determined in a straightforward manner. W e examine experimental...

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on ...