When a robot arm(s) conducts some tasks on a satellite, the satellite attitude stability is necessary against the robot arm's motion to maintain the communication link and to generate electrical power from the solar panel(s). However the reaction from the robot arm is much stronger than the natural environmental disturbance torque that the traditional satellite attitude control system cares. Na...

| This paper presents technology that extends the concept of end-point control of a exiblelink robot arm to handle payloads with unknown internal dynamics. The approach is based on merging high-performance control with an innovative identi cation algorithm in a self-tuning regulator framework. Payload dynamics are identi ed in real-time using recently developed subspace tting techniques. Su cie...

Robot design is a major component in robotics, as it allows building robots capable of performing properly given tasks. However, designing robot with multiple types parameters and constraints defining an optimization function analytically for the problem may be intractable or even impossible. Therefore black-box approaches are generally preferred. In this work we propose GlobDesOpt, simple-to-u...

In modern manufacturing, robot arms are used in automated production, replacing humans to avoid risk, increase efficiency, and improve accuracy. Fixed robot arm technology is very well-developed worldwide. In our project, we designed a smart robot to expand the applications for which robot arms are traditionally used. The robot arm is installed on an omnidirectional mobile vehicle; a network ca...

Enormous amount of real time robot arm research work is still being carried out in different aspects, especially on dynamics of robotic motion and their governing equations. Taha [5] discussed the dynamics of robot arm problems. Research in this field is still on-going and its applications are massive. This is due to its nature of extending accuracy in order to determine approximate solutions a...

T h i s work is a computer simulation of the control of flexi ble robot arm. The dynamic equations for a single-link flexible robot arm have been derived rigorously. Th is arm has two degrees of freedom in rotation and one in translation so that the workspdce i s three-dimensional. The payload is simulated by attaching additional mass to the arm at a specified location. The governing equations ...

Coordinated control strategies for multi-robot systems are necessary for tasks that cannot be executed by a single robot. This encompasses tasks where the workspace of the robot is too small or where the load is too heavy for one robot to handle. Using multiple robots makes the task feasible by extending the workspace and/or increase the payload of the overall robotic system. In this paper, we ...