A new technique is proposed for paratubal electromyography, using a surface, non-invasive, electrode applied transnasally under nasopharyngoscope guidance. This electrode records activity of the tensor veli palatini muscle during swallowing. This technique is of interest for two reasons: endoscopic guidance offers the possibility to check correct positioning of the electrode recording at tensor...

The dynamics and control of flexible link manipulators (FLMs) are increasing in industrial robotics research. In which the problem inverse is a that has been studied little no general solution. this paper, an approximation method presented to calculate reverse serial with rigid-flexible links. linearization motion equations for translation rotation two-link manipulator (manipulator T-R) address...

A methodology for the formulation of dynamic equations of motion of a serial flexible-link manipulator using the decoupled natural orthogonal complement (DeNOC) matrices, introduced elsewhere for rigid links, is presented in this paper. First, the Euler Lagrange (EL) equations of motion of the system at hand are written. Then, using the DeNOC matrices associated with the velocity constraints of...

In this paper, the new concept of the dynamic singular configuration of flexible manipulators is proposed. When we control flexible manipulators using the inverse dynamics method, we need to consider this dynamic singular configuration of flexible manipulators. Without considering it, the control around the dynamic singular configuration may become unstable. As an example, we derive the dynamic...

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...

Wheeled mobile manipulators utilize both the locomotion capabilities of the wheeled platform and manipulation capacity of the arm. While the modelling and control of such systems have previously been studied, most of them have considered robots with rigid suspension and their wheels are subject to pure rolling conditions. To relax the aforementioned limiting assumptions, this research addresses...

This paper proposes a composite controller (CC) to improve the accuracy of trajectory tracking and suppress vibration two-link underwater flexible manipulators. A dynamic model manipulators considering hydrodynamic force is established by combining Lagrange equation Morison formula. Then, divided into subsystem rigid subsystem, decomposed control strategy presented for two subsystems. In partic...

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...

In the present paper, we expand information about the conditions for passing through Type 2 singular configurations of a parallel manipulator. It is shown that any parallel manipulator can cross the singular configurations via an optimal control permitting the favorable force distribution, i.e., the wrench applied on the end-effector by the legs and external efforts must be reciprocal to the tw...

For accurate simulations of the dynamic behavior of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modeled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set of linear timevarying equations. Next, the number of degrees of freedom is reduced by applying a ...