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Flexible Joint Robotic Manipulator Performance Improvement Using Mixed Synthesis Technique

Chioma V. Oleka, K. A. Akpado, Emmanuel C. Agbaraji
2021 Journal of Engineering Research and Reports  
The flexible joint robot is gaining more popularity in research and development because of its light weight and numerous applications.  ...  This work aims at improving the tracking performance and stability of the flexible joint robot based on the tracking error, damping time, overshoot and stability margins of the flexible joint model.  ...  INTRODUCTION The desire for higher performance from the structure and mechanical specifications of robot manipulators has spurred designers to come up with flexible joint robots (FJR) [1] .  ... 
doi:10.9734/jerr/2021/v21i1017494 fatcat:atpl42p4rrflzjvi67dunpm57q

Trajectory control of flexible manipulators [chapter]

Alessandro De Luca
1998 Lecture notes in control and information sciences  
For robots with elastic joints, we introduce a generalized inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and full state linearization.  ...  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  ...  The algorithm in Sect. 2.2 is the result of a joint work with PasquMe Lucibello. The experimental results on the two-link flexible arm in Sect. 3.3 were obtained by Stefano Panzieri.  ... 
doi:10.1007/bfb0015078 fatcat:3kwycsehanfyxoifycvltaijqy

A Design and Analysis on Dual Thumb Pneumatic Flexible Robot Hand Base on Active Flexible Bending Joints

Jian CAO, Xiao-peng GONG, Sen ZHAO, Ang QIU
2017 DEStech Transactions on Engineering and Technology Research  
The flexible joint is composed of four elongation artificial muscles with parallel arrangement. The robot hand has five multi-actuated fingers each with three flexible joints.  ...  This paper has a design and analysis on the dual thumb pneumatic flexible robot hand base on the active flexible bending joints we have developed.  ...  Structural Design on Finger of Robot Hand In Figure 1 , the flexible finger is made of three pneumatic flexible joints connected in series, with the two ends of joint fixed on the wedge plate.  ... 
doi:10.12783/dtetr/ameme2017/16251 fatcat:6w5pazfoj5aqjek5jlsbtiylfm

Modeling and Validation of New Continuum Robot Backbone Design With Variable Stiffness Inspired from Elephant Trunk

Azamat Yeshmukhametov, Zholdas Buribayev, Yedilkhan Amirgaliyev, Rahul R Ramakrishnan
2018 IOP Conference Series: Materials Science and Engineering  
A kinematic model is introduced and explained which could be applied for to a wide range of construction with two pairs of cables per section design.  ...  Flexible structure, excellent flexibility and possibility of working in constrained environment made continuum robots attractive in robotic community.  ...  Relation of serially connected number of springs and hardness coefficiency2.1 Geometric model of tendon driven Continuum Robot ManipulatorThe Flexible backbone continuum Robot structure proposed in this  ... 
doi:10.1088/1757-899x/417/1/012010 fatcat:dfhiku2z7jcwpapimutulomjyu

Advanced Structural Fibre Material for Single Link Robotic Manipulator Simulation Analysis with Flexibility

S Ramalingam, S Mohideen
2020 Journal of Automation, Mobile Robotics & Intelligent Systems  
In this investigation, five different composite structural fibres are taken as a flexible link with joint flexibility for case study analysis.  ...  The modeling of structural fibre single flexible link on the basis of Euler-Bernoulli beam theory and Lagrange's equations of motion is studied and accurate modes of the system are obtained.  ...  The joint flexibility increases whole structure flexibility, which helps to derive accurate dynamic model for control purpose and perform a critical task carried by the robot end link via obstacle point  ... 
doi:10.14313/jamris/4-2019/36 fatcat:qixh57637za7pekxgvjwqayor4

CONTINUOUS-TIME MODEL IDENTIFICATION OF ROBOT FLEXIBILITIES FOR FAST VISUAL SERVOING

Loïc Cuvillon, Edouard Laroche, Hugues Garnier, Jacques Gangloff, Michel de Mathelin
2006 IFAC Proceedings Volumes  
Based on this model, a H ∞ control law is designed and implemented, allowing to reach high dynamics.  ...  This paper presents a general methodology for identifying the dynamical part of the continuous-time model of an articulated arm including flexibilities dedicated to visual servoing.  ...  ACKNOWLEDGMENT This work is supported by a "Bourse de Docteur Ingenieur" grant from the Alsace Regional Council and the Centre National de la Recherche Scientifique.  ... 
doi:10.3182/20060329-3-au-2901.00204 fatcat:3e3khxrdlrgg5ftfvhjwapbqxi

Trajectory Tracking in Flexible Robot Arms [chapter]

Alessandro de Luca, Fernando Nicolò, Giovanni Ulivi
1992 Systems, Models and Feedback: Theory and Applications  
This bars the straight application of inversion control solving the trajectory tracking problem in robots with rigid links.  ...  Three alternative strategies are presented: inversion control based on a suitable minimum phase output, nonlinear regulation of the tip output, and iterative learning control.  ...  Acknowledgements This paper is based on works supported by the Ministero dell'Università e della Ricerca Scientifica e Tecnologica, under 40% funds, and by the  ... 
doi:10.1007/978-1-4757-2204-8_2 fatcat:425qagknjfbftnylqdxhetng6m

Cerebellar Control of Robot Arms

Patrick Van Der Smagt
1998 Connection science  
Nevertheless, the application of computational cerebellar models to the control of robot dynamics remains in its infant state.  ...  To date, a few applications have been realized, yet limited to the control of traditional robot structures which, strictly speaking, do not require adaptive control for the tasks that are performed since  ...  The author kindly acknowledges the continuing support of Gerd Hirzinger, who leads the Department of Robotic Systems at the German Aerospace Center in Oberpfaffenhofen.  ... 
doi:10.1080/095400998116468 fatcat:4kcwb2xwxzdzvdxpho25h74cky

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

Eftychios G. Christoforou, Christopher J. Damaren
2000 Journal of Robotic Systems  
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  ...  The control problem for flexible-multilink robots carrying large payloads is revisited.  ...  The absence of this property with respect to the end-effector motion in the flexible case may explain why little work has been done on the adaptive control of structurally flexible-multilink robots.  ... 
doi:10.1002/(sici)1097-4563(200005)17:5<255::aid-rob3>3.0.co;2-k fatcat:kxbtfcdbdzfkle7onl5tji47bm

Constrained Motion Control of Flexible Robot Manipulators Based on Recurrent Neural Networks

L. Tian, J. Wang, Z. Mao
2004 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
end-effector contacting with a surface are controlled.  ...  Based on the error dynamics of a feedback controller, a learning rule for updating the connection weights of the adaptive RNN model is obtained.  ...  actual outputs, Now, making use of (20) and (21) , it can be given as where , with denotes the error in inverse dynamic modeling for each joint.  ... 
doi:10.1109/tsmcb.2004.826400 pmid:15484923 fatcat:hia2gcjfq5ebhfzfc4pgolkko4

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

Jung Sohn, Gi-Woo Kim, Seung-Bok Choi
2018 Applied Sciences  
Over the last two decades, smart materials have received significant attention over a broad range of engineering applications because of their unique and inherent characteristics for actuating and sensing  ...  Many different types of robots proposed to date, such as parallel planar robots, are investigated focusing on design configuration and operating principles.  ...  Some other applications of ERF in robotic areas include tactile sensors, and human-friendly soft hands.  ... 
doi:10.3390/app8101928 fatcat:vskxqfmzwfeyhawqfcvjcjus7m

Applying evolutionary computation to harness passive material properties in robots

Jared M. Moore
2013 Proceeding of the fifteenth annual conference companion on Genetic and evolutionary computation conference companion - GECCO '13 Companion  
Emulating these characteristics in a robot can potentially increase performance and maneuverability, but requires finding effective solutions among an infinite set of possible morphology and controller  ...  Movements are often aided by passive characteristics of an organism's body and the inherent flexibility of muscles.  ...  Clark, as well as members of the Software Engineering and Network Systems Laboratory, the Smart Microsystems Laboratory, and the BEACON Center at Michigan State University.  ... 
doi:10.1145/2464576.2482755 dblp:conf/gecco/Moore13 fatcat:ljbvrhegnrexzdoyb7y74a5rri

Design of 3D-Printed Flexible Joints with Presettable Stiffness for Surgical Robots

Fan Feng, Wuzhou Hong, Le Xie
2020 IEEE Access  
Kinematic and static models of the proposed flexible joints were designed. A finite element analysis method was used to calculate the correction factors.  ...  The flexible part is a joint that can be 3D-printed using various materials. The flexible joints made of each material are of the same size but have different stiffness and dexterity.  ...  His research interests include surgical robots and continuum robots.  ... 
doi:10.1109/access.2020.2991092 fatcat:5trxauh6d5axjiw4g536zp4yxe

Safe Human-Robot Interaction Using Variable Stiffness, Hyper-Redundancy, and Smart Robotic Skins [chapter]

Pinar Boyraz Baykas, Ertugrul Bayraktar, Cihat Bora Yigit
2020 Service Robotics [Working Title]  
We demonstrate the advantages of variable stiffness actuators (VSA) in compliancy, safety, and energy efficiency with applications in exoskeleton and rehabilitation robotics.  ...  The hyper-redundant structures are more controllable, having efficient actuation and better feedback.  ...  With the advancement of technological development, specialized mechanisms and devices are used more frequently to resolve some of the issues related with physical interaction between humans and robots.  ... 
doi:10.5772/intechopen.92693 fatcat:7tu5xzq3vrhctcewrhrkkydqrm

Optimization in designing compliant robotic micro-devices

J. Hricko, S. Havlik, R. Hartansky
2010 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)  
The wide range of applications requires using compact compliant structures that exhibit specific functional features different from traditional mechanisms.  ...  Results from experimental measurements and their comparison with data from mathematical models are shown.  ...  .: 2/0048/13 "(Micro) Electro-mechanisms for robotics and extremely work spaces (environments)." and by the Slovak Research and Development Agency under the contract No.  ... 
doi:10.1109/raad.2010.5524554 fatcat:exbb3izeenejnd2zvnfxjas5vq
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