A simple collision detection method for a flexible link manipulator is proposed. The method only requires two strain measurements to determine the position of a collision with the flexible link. Equations which relate the force and position of contact to the strain at two points in the flexible link are derived assuming the link is at static equilibrium. Since the flexible robot is actually in ...

A control method without state feedback of the free link is proposed for swing-up and stabilization at the upright position of a flexible free link in a twolink underactuated flexible manipulator (the active first and free second links are rigid and flexible, respectively). The proposed method is based on the actuation of bifurcations produced in the second link under high-frequency excitation ...

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

The problem of observer design for nonlinear systems has got great attention in the recent literature. The nonlinear observer has been a topic of interest in control theory. In this research, a modified robust sliding-mode observer (SMO) is designed to accurately estimate the state variables of nonlinear systems in the presence of disturbances and model uncertainties. The observer has a simple ...

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-...

A new system-on-a-chip radar sensor for next-generation wearable wireless interface applied to the human health care and safeguard is presented. The system overview is provided and the feasibility study of the radar sensor is presented. In detail, the overall system consists of a radar sensor for detecting the heart and breath rates and a low-power IEEE 802.15.4 ZigBee radio interface, which pr...

This paper presents dynamic modelling of a two-link flexible manipulator system. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. A two-link flexible manipulator incorporating structural damping, hub inertia and payload is considered. An explicit, complete, and accurate nonlinear dyna...