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...

As has been realized, the flexible-link manipulators have attracted more and more attention from robot control theorists and/or robot users because of its various potential advantages. But since the control degree-of-freedom is much less than that of the system, many control strategies which succeed in the conventional rigid robot control cannot be directly used in the flexible robot control pr...

In this study, modelling and control of a two-link robot manipulator whose first link is rigid and the second one is flexible is considered for both land and underwater conditions. Governing equations of the systems are derived from Hamilton’s Principle and differential eigenvalue problem. A computer program is developed to solve nonlinear ordinary differential equations defining the system dyn...

We present some feedback control techniques recently developed for the exact solution of t rajectory tracking problems for manipulators with flexible elements. Two classes are considered: i) robots with rigid links but with elastic transmissions, in which flexibility is concentrated at the joints, and ii) robots with lightweight and/or long arms, where flexibility is distributed along the links...

Abstract Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at material level. An increasing number researchers are interested in designing, manufacturing, modeling, control. However, dynamic simulation soft is difficult infinite degrees freedom nonlinear characteristics that associated materi...

Vibration is one of the most important resources of error in motion of tip of flexible robot manipulators. Although much work has been done in the design of controllers for flexible manipulators to follow a specified tip trajectory, it has been done a little work in trajectory planning itself. For redundant robot manipulators, trajectory planning can be accomplished with the aim of optimizing s...

Flexible manipulator systems in specific applications such as space exploration, nuclear waste treatment, medical applications, etc., often have characteristics superior to conventional rigid systems. However, their elasticity and complex dynamics lead difficulties encountered control processes. Research on improving the structure of model plays a very important role reducing above limitations ...

For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed succ...

As is well known, a wire-driven parallel manipulator is a manipulator whose end-effector is driven by a number of cables instead of rigid links. It shows several promising advantages over its rigid-link counterpart, such as simple light-weight mechanical structure, low moment inertia, large reachable workspace and high-speed motion. In the 1980s, the National Institute of Standards and Technolo...

Waste tank Cleanup is a current application area for robotics in the United States. As a result of tank access restrictions, (e.g., limited number and size of manholes), designs for several current waste Cleanup manipulator systems have long links with small cross-sections and variable lengths. In addition, as a result of anticipated payload capacity, these manipulator designs are hydraulically...