This study presents an investigation into dynamic modelling of a flexible single-link manipulator system using differential evolutionary technique (DE) and particle swarm optimization technique (PSO). Details of simulation study, Model Selection, optimization and result analysis are given in this study. The input-output data of the system were first acquired through the simulation study using f...

This paper illustrates an application of intelligent control for a planar 3-RRR parallel manipulator. Unlike control of serial manipulators that has been vastly addressed in scientific literature, control of parallel manipulators has been only addressed by few. A GA optimized bi-level tuning fuzzy PD controller is designed here to control the manipulator. In order to consider the maximum allowa...

The paper aims to describe kinematic hybrid position/force control for a three-degree-of-freedom (3-DOF) in-parallel actuated manipulator, and its application to peg-inhole task about 10μm clearance. The control system consists of a low-level position servo driven by force feedback in base coordinates. The computation required for the control is only inverse kinematics, which is very simple for...

Mobile manipulators have been given extensive attention in recent years since they have many applications such as materials transport and service for disabled persons. A mobile modular manipulator is normally composed of an m-wheeled mobile platform and an n-degree-of-freedom (DOF) onboard modular manipulator. This combination extends the workspace of the entire robot dramatically. Building up ...

We aim at building a joint space trajectory generation system. Connected to a xed manipulator with sensory feedback, neural networks are expected to move the end-eeector from any start to any goal connguration without colliding with obstacles. The output of our system is a series of consecutive conngurations yielding a joint-space trajectory. Sensory information serves as the only source of kno...

Title of Dissertation: A THREE DEGREE OF FREEDOM PARALLEL MANIPULATOR WITH ONLY TRANSLATIONAL DEGREES OF FREEDOM Richard Eugene Stamper, Doctor of Philosophy, 1997 Dissertation directed by: Professor Lung-Wen Tsai Department of Mechanical Engineering and Institute for Systems Research In this dissertation, a novel parallel manipulator is investigated. The manipulator has three degrees of freedo...

Constraint satisfaction programming (CSP) has been successfully used in model-driven development (MDD) for solving a wide range of (combinatorial) problems. In CSP, declarative constraints capture restrictions over variables with finite domains where both the number of variables and their domains are required to be a priori finite. However, the existing formulation of constraint satisfaction pr...

Constraint automata are an adaptation of Büchi-automata that process data words where the data comes from some relational structure S. Every transition of such an automaton comes with constraints in terms of the relations of S. A transition can only be fired if the current and the next data values satisfy all constraints of this transition. These automata have been used in the setting where S i...

This paper is an introduction to Newton, a constraint programming language over nonlinear real constraints. Newton originates from an effort to reconcile the declarative nature of constraint logic programming (CLP) languages over intervals with advanced interval tcchniqucs dcvclopcd in numerical analysis, such as the interval Newton method. Its key conceptual idea is to introduce the notion of ...

We describe an algorithm for quantifier elimination over differentially closed fields and its implementation within the computer logic package redlog of the computer algebra system reduce. We give various application examples, which on the one hand demonstrate the applicability of our software to non-trivial problems, and on the other hand give a good impression of the possible range of applica...