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The control of flexible-link robots manipulating large payloads: Theory and experiments

Eftychios G. Christoforou, Christopher J. Damaren
2000 Journal of Robotic Systems  
The control problem for flexible-multilink robots carrying large payloads is revisited.  ...  A set of nonlinear approximate equations describing the payload-dominated dynamics of the flexible plant is used in conjunction with the passivity property satisfied by a suitably defined modified input  ...  In the context of flexible-link robots this property persists but is less strategic for controller design purposes than it is for the rigid case, since the actual objective is the tracking of a prescribed  ... 
doi:10.1002/(sici)1097-4563(200005)17:5<255::aid-rob3>3.0.co;2-k fatcat:kxbtfcdbdzfkle7onl5tji47bm

Advancement of MSA-Technique for Stiffness Modeling of Serial and Parallel Robotic Manipulators [chapter]

Alexandr Klimchik, Damien Chablat, Anatol Pashkevich
2018 ROMANSY 22 – Robot Design, Dynamics and Control  
In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of flexible and rigid links connected by rigid, passive or elastic joints with multiple external loadings  ...  The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators.  ...  The work presented in this paper was supported by the grant of Russian Science Foundation №17-19-01740. Bibliography  ... 
doi:10.1007/978-3-319-78963-7_45 fatcat:44nj6b3swfgczlrxpaotonkesu

Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism

Qinghua Zhang, Xianmin Zhang, Junyang Wei
2016 Shock and Vibration  
Four control schemes are designed in this experiment: three passive flexible links are controlled at the same time, only passive flexible link 1 is controlled, only passive flexible link 2 is controlled  ...  In general, the experiment verifies that a strain rate feedback controller is able to effectively suppress the elastic vibration of the flexible links of plane 3-RRR flexible parallel robots.  ...  U1501247, 61603103, and 51505092), the of Natural Science Foundation Guangdong Province (Grants nos. 2014A030313616, 2015A030310181, and 2016A030310293), the Science and Technology Planning Project of  ... 
doi:10.1155/2016/4780181 fatcat:dueknezc3zcbpmxuedgshqzayi

Flexible Robots [chapter]

Alessandro De Luca
2013 Encyclopedia of Systems and Control  
Control design for robots with flexible joints takes advantage of the passivity and feedback linearization properties.  ...  In robots with flexible links, basic differences arise when controlling the motion at the joint level or at the tip level.  ...  Cross-References Recommended Reading In addition to the works cited in the body of this article, a detailed treatment of dynamic modeling and control issues for flexible robots can be found in De Luca  ... 
doi:10.1007/978-1-4471-5102-9_176-1 fatcat:ppeb2jaudnhdriipyqimu74lwe

Flexible Robots [chapter]

Alessandro De Luca
2015 Encyclopedia of Systems and Control  
Control design for robots with flexible joints takes advantage of the passivity and feedback linearization properties.  ...  In robots with flexible links, basic differences arise when controlling the motion at the joint level or at the tip level.  ...  Cross-References Recommended Reading In addition to the works cited in the body of this article, a detailed treatment of dynamic modeling and control issues for flexible robots can be found in De Luca  ... 
doi:10.1007/978-1-4471-5058-9_176 fatcat:mvhkmmvimnahzdjn373dtjqxfi

The Safety of Domestic Robotics: A Survey of Various Safety-Related Publications

Tadele Shiferaw Tadele, Theo de Vries, Stefano Stramigioli
2014 IEEE robotics & automation magazine  
Safety is one of the critical issues that must be guaranteed for successful acceptance, deployment and utilization of domestic robots.  ...  In the last decade, a number of researchers have presented their works that highlighted the issue of safety in a specific part of the complete domestic robotics system.  ...  Another mechanical design relevant for safety of a robot is a passive gravity compensation shown in [82] .  ... 
doi:10.1109/mra.2014.2310151 fatcat:m7v27pvtybf6lin4h4tow3yw4u

EFFECTIVE VIBRATION SUPPRESSION OF A MANEUVERING TWO-LINK FLEXIBLE ARM VIA AN EVENT-BASED STIFFNESS CONTROLLER

Abdullah Özer, Suat E. Semercigil
2011 International Journal of Robotics and Automation  
Vibration control of a maneuvering flexible robotic arm is a challenging task in the presence of changing structural dynamics which has to deal with measurement inaccuracies and complex modeling efforts  ...  This paper presents an effective and versatile controller for a maneuvering flexible arm. Proposed Variable Stiffness Control (VSC) is stable, due to its being dissipative in nature.  ...  However, the effectiveness of a passive controller may deteriorate drastically for varying design conditions [1] [2] [3] [4] .  ... 
doi:10.2316/journal.206.2011.2.206-3363 fatcat:7o6bxsdzezhrrgiunknqcr75bu

Advancement of MSA-technique for stiffness modeling of serial and parallel robotic manipulators [article]

Alexandr Klimchik, Damien Chablat
2018 arXiv   pre-print
In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of flexible and rigid links connected by rigid, passive or elastic joints with multiple external loadings  ...  The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators.  ...  The work presented in this paper was supported by the grant of Russian Science Foundation №17-19-01740. Bibliography  ... 
arXiv:1805.11366v1 fatcat:ub4656cnirbnhjakqkvgnvfxdq

Study on Residual Vibration Suppress of a 3-DOF Flexible Parallel Robot Mechanism

Qinghua Zhang, Qinghua Lu, Xianmin Zhang, Junjun Wu
2018 Sensors  
In the experimental study, one scheme with three passive flexible links is controlled by the SSRF controller at the same time as the performance of the introduced solutions.  ...  Residual vibration suppression of a 3-DOF flexible parallel robot mechanism is implemented in this paper.  ...  Figure 16 . 16 The vibration signals of passive flexible link 1 for the uncontrolled and controlled systems.  ... 
doi:10.3390/s18124145 pmid:30486304 fatcat:lkxmydhaxnfldismqbooctfczu

Compliance Control and Human–Robot Interaction: Part 1 — Survey

Said G. Khan, Guido Herrmann, Mubarak Al Grafi, Tony Pipe, Chris Melhuish
2014 International Journal of Humanoid Robotics  
The paper is aimed to provide a good background knowledge for new researchers and highlight the current hot issues in compliance control research.  ...  Compliance control is highly relevant to human safety in human robot interaction (HRI). This paper presents a review of various compliance control techniques.  ...  Note that for the compliance controller, is not suitable for the robots whose design does not cater for passive compliance.  ... 
doi:10.1142/s0219843614300013 fatcat:qqblmot2areapmlrqjp2i77gkq

Common Situation Awareness as Basis for Human-Robot Interface [chapter]

A. Halme
2006 Climbing and Walking Robots  
flexible manipulator system p. 583 Pay-load estimation of a 2-DOF flexible link robot p. 591 Design of hybrid learning control for flexible manipulators : a multi-objective optimisation approach  ...  with acceleration feedback for flexible manipulators p. 567 BNN-based fuzzy logic controller for flexible-link manipulator p. 575 Design constraints in implementing real-time algorithms for a  ... 
doi:10.1007/3-540-26415-9_1 dblp:conf/clawar/Halme05 fatcat:egsro4muxve47ilmowjv6fsr3m

Development of a child-oriented social robot for safe and interactive physical interaction

Xiaoning Ma, Francis Quek
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we proposed the design of a social robot which aims at conducting safe and playful Human-Robot Interaction (HRI), especially with children.  ...  We built a teddy bear robot prototype based on hybrid passive-active compliant system which consists of flexible joints as passive part and compliant motion controller as active part.  ...  The authors would like to thank Prof. Shuzhi Sam Ge for his support and advice for this research, and the reviewers for their valuable feedback.  ... 
doi:10.1109/iros.2010.5652715 dblp:conf/iros/MaQ10 fatcat:zzfssjhkbrgtphitye2apo67c4

A hybrid control strategy for vibration damping and precise tip-positioning of a single-link flexible manipulator

Emiliano Pereira, Sumeet S. Aphale, Vicente Feliu, S. O. Reza Moheimani
2009 2009 IEEE International Conference on Mechatronics  
In this work, we propose a new control approach for a single-link flexible manipulator, based on the Integral Resonant Control (IRC) scheme.  ...  Finally, a brief discussion is included to highlight the contributions of this work in broad area of controlling single-link flexible manipulators.  ...  ACKNOWLEDGMENT The authors would like to thank Dr I. M. Diaz for his help.  ... 
doi:10.1109/icmech.2009.4957128 fatcat:vraoieirwbb7dnhaxpfb3ska3q

Control of a Flexible Manipulator With Noncollocated Feedback: Time-Domain Passivity Approach

J.-H. Ryu, D.-S. Kwon, B. Hannaford
2004 IEEE Transactions on Robotics  
The proposed method is simulated with a single-link flexible manipulator, and a good control performance is obtained.  ...  We introduce a method to implement the timedomain passivity-control approach to a flexible manipulator with noncollocated feedback, which could not be treated with the previous time-domain passivity-control  ...  In this section, the proposed stability-guaranteed control scheme for noncollocated control systems is tested for feasibility with a simulated flexible-link manipulator.  ... 
doi:10.1109/tro.2004.829454 dblp:journals/trob/RyuKH04b fatcat:7bgx2hqjqjg3rggnp6czistuda

Splecial Issue on Active Control-Leading Application of Control Theory. Control and Control Theory for Flexible Robots

David P. MAGEE, Wayne J. BOOK
1993 Journal of The Society of Instrument and Control Engineers  
As the requirements for robot performance increase,  ...  Oscillations in final tip position were also reduced in simulation when the natural passive damping of the flexible arm is considered.  ...  Troch and Kopacek60) discuss control strategies for flexible robots, designs based on model simplification and the effects of actuator dynamics.  ... 
doi:10.11499/sicejl1962.32.4_309 fatcat:rjxfrc4x3fbqxaialjjdeq2exe
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