The process of controlling a Flexible Joint Robot Manipulator (FJRM) requires additional sensors for measuring the state variables flexible joints. Therefore, taking elasticity into account adds lot complexity as all must be taken during control process. This paper proposes nonlinear observer that controls FJRM, without requiring equipment states. equations are derived in detail FJRM where nonl...

This paper presents a Gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. The adaptation laws of designed controller are obtained based on sliding m...

This ?aper deals with a robotic system in which the end-point is directly controlled. It consists of a remote guidance subsystem and a manipulator with an end-of-arm sensor subsystem. The guisance subsystem transmits and manipulates a laser beam in space, and the sensor detects the beam, sends the information to the robot controller, which, in turn, instructs the manipulator to follow the beam....

Flexible robotics are capable of navigating through unstructured environments such as a human body, where it can safely conform around environmental obstacles and constraints due to its compliant body. Because these environmental disturbances can affect the configuration of the robot in an unknown and unpredictable manner, conventional kinematicsand mechanics-based control methods can be inaccu...

In this article, we present multi-agent based system generic model architecture for distributed control. This model is dedicated to pilot mobile manipulator robots. The choice of the suggested approach is justified by the generic character of the proposed agent model and on the other hand, by the possibility of integrating the whole in a distributed robotic system (example: CDTA's flexible manu...

This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...

Operational problems with robot manipulators in space relate to several factors, most importantly, structural flexibility and subsequent difficulties with their position control. In this paper we present control methods for endpoint tracking of a 12 6 12 6 m2 trajectory by a two-link robot manipulator. Initially, a manipulator with rigid links is modeled using inverse dynamics, a linear quadrat...