This study presents a synthesis scheme on a target history for the simultaneous control of position and vibration of a space robotic manipulator with a flexible arm. As an essential problem in the manipulator with a flexible arm, its vibration is easily induced by self-motion and external disturbance. Therefore, in this study, the authors develop the long, lightweight and forceful manipulator f...

In this paper, a comprehensive study is presented on the effect of beam's length, shear deformation and beam's theory on the dynamic modeling of single-link flexible manipulator. At the first step, Euler-Bernoulli beams theory (EBBT) is adopted. According to this model the effect of shear deformation is neglected. So, this model is only reliable for the case of slender beam. When the beam is sh...

The control of lightweight flexible manipulators moving along predefined paths is the focus of this work. The flexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full order flexible dynamic system does not allow the determination of a tracking control as for rigid ma~ipulators, since there are not as many control inputs as output variables. Thi~ drawb...

Today, endoscopic surgery is widely used in the field of abdominal and urological surgeries. But it is still difficult to be applied on the tumor resection in neurosurgery because the work space is very narrow and tumor is seated deeply under normal brain. The authors developed a flexible micro manipulator for the resection of deeply seated tumor three years ago, but detail design and fabricati...

This paper describes the design and implementation of a static model used for position estimation of a flexible modular medical manipulator equipped with optic-fiber based sensors. Flexible manipulators are emerging technology in medical applications especially in minimally invasive surgery as it allows to perform the operation with tight space constraints without damaging other organs. Such op...

In this paper, a novel spatial six-degree-of freedom parallel manipulator actuated by three base-mounted partial spherical actuators is studied. This new parallel manipulator consists of a base platform and a moving platform, which are connected by three legs. Each leg of the manipulator is composed of a spherical joint, prismatic joint and universal joint. The base-mounted partial spherical ac...

Accurate dynamic modeling and analysis of flexible link manipulator (FLM) with non linear dynamics is very difficult due to distributed link flexibility and few studies have been conducted based on assumed modes method (AMM) and finite element models. In this paper a nonlinear dynamic model with first two elastic modes is derived using combined Euler/Lagrange and AMM approaches. Significant dyn...

An algorithm is presented which computes feasible manipulator trajectories along fixed paths in the presence of kinematic singularities. The resulting trajectories are close to minimum time, given an inverse kinematic solution for the path and bounds on joint velocities and accelerations. The algorithm has complexity O(M logM ), with respect to the number of joint coordinatesM , and works using...