parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. these parameters are particularly needed in implementation of a model-based controller for robot manipulators. in this paper, the inertial parameters of a manipulated rigid-body object have been estimated. the newton-euler equations will be employe...

Continuum manipulators are robotic manipulators built using one continuous, elastic, and highly deformable “backbone” instead of multiple rigid links and joints. I n previous work, we illuminated various kinematic and dynamic properties of continuum robots, but the question of controller design remained open. This paper presents a basic result for continuum robots that has long been knoum for r...

In this paper, the port Hamiltonian model of a manipulator is presented as the result of the power-conserving interconnection of a set of main components (rigid bodies, flexible links and kinematic pairs). The flexible link model we propose is different from classical approaches because it takes into account the infinite dimensional nature of elasticity, since it does not rely on any finite dim...

Conducting research on soft robots is crucial as there are still many problems that need to be resolved in the areas of material selection, structure design and manufacture, drive control. Soft manipulators, a subset robots, now popular area study for researchers. In comparison typical manipulators feature high degree gripping flexibility basic morphological structure. They composed flexible ma...

AbstmctmMimicking the case of rigid robot arms, the set-point regulation problem for manipulators with flexible links moving under gravity can be solved by either model-based compensation or l i D control. The former cannot be applied if an unknown payload is present or when model parameters are poorly estimated, while the latter requires fine and lengthy tuning of gains in order to achieve goo...

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 ...

Over the last years, flexible structured manipulators have increased in popularity in aeronautical research because of their advantages compared to conventional rigid structures. Unfortunately, the flexibility of the structure has one big disadvantage; it causes undesired motions of the spacecraft. The flexibility of the structure generates structural vibrations that strongly interferes with ri...