1.1 Overview In this book chapter a comparative assessment of modelling and control of mechanical manipulator is considered. First, kinematic and dynamic modelling of wide range of mechanical manipulators comprising flexible link, flexible joint and mobile manipulators are considered. Then, open-loop optimal control problem is formulated to control of the obtained system. Finally, some applicat...

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...

In this paper, we present a neural network based control scheme for endeffector path tracking control of a system consisting of a rigid micro manipulator attached at the end of a flexible macro manipulator. The objective is to suppress vibrations in the macro manipulator and at the same time achieve desired motions of the end-effector of the micro manipulator. A two-layer feedforward neural net...

In our previous work (2008, “Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions,” Int. J. Robot. Res., 27(8), pp. 967–983), the dynamic properties of rigid-link parallel manipulators, in the presence of type 2 singularities, have been studied. It was shown that any parallel manipulator can pass through the singular positions without perturbation of moti...

Sungsoo Rhim School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332 Email: [email protected] NaderSadegh School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332 Email: [email protected] Command shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear ...

Abstract The residual vibration of the flexible joint manipulator during and after movement will seriously affects positioning accuracy manipulator. This paper discusses trajectory planning method for suppressing vibration. A optimal model which contains minimization both time jerk was proposed. An optimization based on comprehensive learning particle swarm (CLPSO) algorithm utilized solving pr...

This paper studies the transient and steady performance constraints on flexible joint manipulator system with exogenous disturbance, proposes a fixed-time prescribe tracking control method based singular perturbation model. For fast subsystem, subcontroller superior is proposed that guarantees suppression of vibration in fixed-time. The remaining slow subsystem can be linked rigid methods to ac...