– One of the important applications of robots is in material handling and transport of various shaped objects. In cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. This paper presents an analytical method for minimizing the oscillation of a suspended object during transport. This method...

This paper presents a novel strategy to learn a positional controller for the body of a flexible surgical manipulator used for Minimally Invasive Surgery. The manipulator is developed within the STIFF-FLOP European project and is targeted for a laparoscopic use in remote areas of the abdominal region that are not easily accessible by means of currently available rigid tools. While the surgeon c...

This work shows a controller development for cylinder penumatic, that due to compressibility air characteristics, present a non linear behavior. Is including the develop of PID, discreete PID and Fuzzy Logic approximation, as solution to the problem. The work is part of a major project of Flexible Manipulator Robot, with dielectrics characteristics, for cleaning of porcelain isolators of high v...

For robot manipulators, an OLP system provides a detailed 3D simulation test-bed for visualization and analysis of various what-if scenarios. This paper discusses the prototype OLP system developed at the Informatics Complex for a six degrees of freedom cylindrical serial manipulator. Paradigms from classical robotics literature have been used to develop models of kinematics and to plan manipul...

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...

in this paper, finding dynamic load carrying capacity (dlcc) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. the finite element method was employed for modelling and deriving the dynamic equations of the system. the study employed indirect solution of optimal control for system motion planning. due to offline nature of the method, many diffic...

In this paper a simulink based approach is developed for trajectory tracking of robot manipulator. A robot manipulator is widely used in many industrial application. A robot manipulator moves the end effector to the configuration instructed by the user. The input from the main unit is transformed in to the desired configuration through forward kinematics. This configuration is sent to the robot...

This paper proves the capability of the bees algorithm to solve complex parameter optimization problems for robot manipulator control. Two applications are presented. The first case considers the modelling of the inverse kinematics of an articulated robot arm using neural networks. The weights of the connections between the nodes need to be set so as to minimize the difference between the neura...

Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...

The non-destructive inspection of large bridges with autonomous systems is still an unsolved problem. One of the main difficulties is to develop a very flexible platform, which is able to move at horizontal and vertical areas and can inspect the surface. For precise inspection of concrete walls it is essential to have a manipulator to perform a 2D scan with adequate sensors. In this paper a cli...