joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

We present some feedback control techniques recently developed for the exact solution of t rajectory tracking problems for manipulators with flexible elements. Two classes are considered: i) robots with rigid links but with elastic transmissions, in which flexibility is concentrated at the joints, and ii) robots with lightweight and/or long arms, where flexibility is distributed along the links...

Inverse flexible dynamics control (IFDC) and fuzzy logic system adaptive control (FLSAC) strategies are used to track the end effector of a flexible space robot with sensors collocated at the joints, noncollocated at the end effector and 0.5m from the elbow joint on link 2. Collocated joint sensors satisfy hyperstability conditions but fail to capture nonminimum phase (NMP) response that genera...

This paper presents a smooth sliding mode control plus backstepping method for the motion/force control of a constrained robotic manipulator with flexible joints. The control scheme is presented based on that overall system parameters are with uncertainties whereas only the constrained force, positions and velocities of links and rotors are measurable. The smooth sliding controller can achieve ...

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...

this paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. a reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. the model features extensive spine deformation during high-speed bounding, resembling those observed in a cheetah. fixed points corresponding to cyclic bounding motions are found and calcul...

This paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. A reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. The model features extensive spine deformation during high-speed bounding, resembling those observed in a cheetah. Fixed points corresponding to cyclic bounding motions are found and calcul...

The successful control of a robot hand with multiple degrees of freedom not only requires sensors to determine the state of the hand but also a thorough understanding of the actuator system and its properties. This article presents a set of sensors and analyzes the actuator properties of an anthropomorphic robot hand driven by flexible fluidic actuators. These flexible and compact actuators are...

This paper presents a bio‐inspired wire‐driven multi‐section flexible robot. It is inspired by the snake skeleton and octopus arm muscle arrangements. The robot consists of three sections and each section is made up of several identical vertebras, which are articulated by both spherical joints and a flexible backbone. Each section is driven by two groups of wires, controlling t...

Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot m...