In recent years, establishing more and more explicit, complete and accurate dynamic models for the special category of flexible link manipulators has been a formidable challenging and still open problem in robotics research. This chapter is devoted to a methodological presentation of the application of Timoshenko beam (TB) theory (TBT) concepts to the mathematical description of flexible link r...

this paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (dlcc) for mobile-base flexible-link manipulators. in previously proposed methods in the literature of dlcc calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

This paper proposes a hybrid numerical method (HNM) to solve the inverse kinematics of a class of spatial flexible manipulators modeled b y mass/spring (mass-lumped stations and masslessspring fields) modeling method. HNM includes two parts: one is an implicit recursive numerical method (IRNM) which is used to f ind a better approximate solution to the inverse problem, the other is a global ite...

The paper describes use of soft computing methods (fuzzy logic and neural network techniques) in the development of a hybrid fuzzy neural control (HFNC) scheme for a multi-link flexible manipulator. A manipulator with multiple flexible links is a multivariable system of considerable complexity due to the inter-link coupling effects that are present in both rigid and flexible motions. Modelling ...

The robot-assisted flexible access surgery represented by the emerging endoscopy (FE) and natural orifice transluminal endoscopic demands continuum manipulators instead of rigid straight instruments in traditional minimally invasive (MIS). These are required to advance through tortuous narrow anatomic paths via orifices for dexterous diagnostic examination therapeutic operations. Therefore, dev...

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...

this paper evaluates a new and simple controller design method based on qft (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. a piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. this system is modeled as a nonlinear multi-input multi-output (mimo) control systems whose inputs are two...

Laparoscopic single-port surgery and natural orifice transluminal endoscopic surgery (NOTES) are two novel procedures with the aim to reduce trauma to the patient. Both of them are promising, but still highly dependent on the development of new, adequate support systems that are indispensable in order to perform such demanding interventions. Primarily, the requirements of a single-port system r...

A detailed dynamic model of hydraulically driven mobile large-scale manipulators is presented. The model can be used as simulation model, for the calculation of the forces in the design process and for the development of the controllers, which are required for tracking given trajectories, but also to avoid vibrations. It takes into account all relevant coupling effects between hydraulic drives ...

This paper addresses the problems of planning and control of the on-orbit maneuvering of large and highly flexible structures by free-flying robots. An approach is proposed where the robots use their thrusters to control the “rigid body” motion of the robot-structure system being transported and their manipulators to control and damp out vibration in the structure induced by the thruster firing...