Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of hybrid control schemes for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, initially...

— This paper presents our approach to extending the niche of behavior-based robotics to manipulation. We use results from neuroscience to define the basic behaviors of the manipulator. Furthermore, we derive some qualitative design rules for the mechanics of the manipulator. With these principles, we have designed a first demo application: writing on a board with a mobile manipulator.

This paper focuses on the vibration control issue of a Flexibly Supported Parallel Manipulator (FSPM), which consists of a flexible support and a rigid parallel manipulator. The distinct characteristic of an FSPM is the dynamic coupling between the rigid and flexible parts, which challenges the vibration control implemented by the rigid parallel manipulator. The re...

A high degree of freedom (DOF) benefits manipulators by presenting various postures when reaching a target. Using tendon-driven system with an underactuated structure can provide flexibility and weight reduction to such manipulators. The design control composite are challenging owing its complicated architecture modeling difficulties. In our previous study, we developed tendon-driven, high-DOF ...