this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...

Robotic manipulators are widely used to help in dangerous, monotonous, and tedious jobs. Most of the existing robotic manipulators are designed and built in a manner to maximize stiffness in an attempt to minimize the vibration of the end-effectors. This high stiffness is achieved by using heavy material and bulky design. Hence, the existing heavy rigid manipulators are shown to be inefficient ...

The applicability of transputers in control systems is investigated. This is done by implementing a controller for a flexible robot arm with one degree of freedom on a system consisting of an IBM-AT and four transputers. It is found that a control system with transputers offers a great improvement compared with conventional digital control systems. Transputers can solve the common problem in co...

We consider the inverse dynamics problem for robot arms with, flezible lids, i.e., the computation of the input torque that allows exact tracking of a trajec tor~y definedfor the manipulator end-e flector. A stable inversion controller is derived numerically, based on the computation of bounded link deformations and, from these, of the? equiredfe edforwardtorque associated with, the desired tip...

Dynamics and control of flexible robot manipulators have received wider attention during the last two decades. In manufacturing and space applications, the use of lightweight structures in robot manipulators is motivated by their capacity for high speed maneuvers, their high payload to arm weight ratio, higher mobility, reduced energy consumption, and lower inertia forces for accurate positioni...