This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

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 ...

In this paper the control of flexible joint manipulators is studied in detail. The model of N -axis flexible joint manipulators is derived and reformulated in the form of singular perturbation theory and an integral manifold is used to separate fast dynamics from slow dynamics. A composite control algorithm is proposed for the flexible joint robots, which consists of two main parts. Fast contro...

In our previous work (2008, “Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions,” Int. J. Robot. Res., 27(8), pp. 967–983), the dynamic properties of rigid-link parallel manipulators, in the presence of type 2 singularities, have been studied. It was shown that any parallel manipulator can pass through the singular positions without perturbation of moti...

This paper presents a perturbation method for the dynamic simulation of flexible manipulators. In this method the vibrational motion of the manipulator is modeled as a first-order perturbation of the nominal rigid link motion. For that purpose the flexible dynamic model is split into two parts. A rigidified system describes the nominal rigid link motion of the manipulator. A linear system linea...

This paper presents an application of Continuum (i.e. Lagrangian) and Finite Element Techniques to flexible manipulator arms for derivation of the corresponding Dynamic Equations of Motion. Specifically a one-link flexible arm is considered for detailed analysis, and the results are extended for the case of a two - link flexible manipulator. Numerical examples are given for the case of both one...

Hybrid position/force control enables a robot to apply specified forces to a constraint while moving along a prescribed path. Flexibility of the motor transmissions (joint flexibility) is a major concern in the design of hybrid controls, particularly with regard to system stability. While much work on hybrid control has been toward the development of advanced schemes specifically for flexible-j...

A hybrid adaptive tracking controller for rigid-link flexible-joint (RLFJ) robot manipulators is designed. The controller is hybrid in the sense that an adaptive indirect controller is used to compensate for parametric uncertainties in the rigid-link equation whereas an adaptive robust controller corrects for the dynamics (i.e. mechanical flexibilities) and parametric uncertainty associated wit...

The setpoint regulation problem for robotic manipulators is a basic task that can be solved either by PID control or by model-based gravity compensation. These approaches are commonly applied both to rigid arms and to robots with flexible links and/or elastic joints. However, PID control requires fine and lengthy tuning of gains in order to achieve good performance over the whole workspace. Mor...

We propose a new model for robot manipulators with rigid links and flexible joints. Our model is expressed in Cartesian dependent coordinates which represent the positions, orientations and velocities of the links and the rotors, as opposed to independent generalized coordinates in which classical “Lagrangian” models are defined. The model consists of a set of dynamics equations and holonomic c...