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Journal articles on the topic 'Flexible Robot'

Author: Grafiati

Published: 4 June 2021

Last updated: 5 February 2022

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1

Huang, Wenkai, Junlong Xiao, Feilong Zeng, et al. "A Quadruped Robot with Three-Dimensional Flexible Legs." Sensors 21, no. 14 (2021): 4907. http://dx.doi.org/10.3390/s21144907.

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As an important part of the quadruped robot, the leg determines its performance. Flexible legs or flexible joints aid in the buffering and adaptability of robots. At present, most flexible quadruped robots only have two-dimensional flexibility or use complex parallel structures to achieve three-dimensional flexibility. This research will propose a new type of three-dimensional flexible structure. This passive compliant three-dimensional flexibility reduces the weight and complex structure of the robot. The anti-impact performance of the robot is verified by a side impact experiment. The simula

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Wang, Liping, Lian Chen, Zhufeng Shao, Liwen Guan, and Li Du. "Analysis of flexible supported industrial robot on terminal accuracy." International Journal of Advanced Robotic Systems 15, no. 4 (2018): 172988141879302. http://dx.doi.org/10.1177/1729881418793022.

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To meet comprehensive performance requirements of large workspace, lightweight, and low energy consumption, and flexible supported industrial robots emerge, which are usually composed of a six-degrees-of-rotational-freedom (6R) industrial robot and a flexible support. Flexible support greatly expands the motion range of the attached industrial robot. Flexible supported industrial robots have been adopted in surface coating of large structures such as aircrafts and rockets. However, the rigid–flexible coupling exists in these robot systems. When the industrial robot moves, the reaction force an

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My, Chu A., and Duong X. Bien. "New development of the dynamic modeling and the inverse dynamic analysis for flexible robot." International Journal of Advanced Robotic Systems 17, no. 4 (2020): 172988142094334. http://dx.doi.org/10.1177/1729881420943341.

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When a segment of a flexible link of a flexible robot is currently sliding through a prismatic joint, it is usually assumed that the elastic deformation of the segment equals to zero. This is a kind of time-dependent boundary condition when formulating the dynamics model of a flexible robot consisting of prismatic joints. Hence, the dynamic modeling and especially the inverse dynamic analysis of the flexible robots with the prismatic joints are challenging. In this article, we present a new development of the dynamic modeling method for a generic two-link flexible robot that consists of a pris

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SUGIMOTO, Koichi. "Flexible Robot System." Journal of the Robotics Society of Japan 10, no. 3 (1992): 334–38. http://dx.doi.org/10.7210/jrsj.10.334.

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5

Lomanto, Davide, Sujith Wijerathne, Lawrence Khek Yu Ho, and Louis Soo Jay Phee. "Flexible endoscopic robot." Minimally Invasive Therapy & Allied Technologies 24, no. 1 (2015): 37–44. http://dx.doi.org/10.3109/13645706.2014.996163.

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Pang, Gaoyang, Jia Deng, Fangjinhua Wang, Junhui Zhang, Zhibo Pang, and Geng Yang. "Development of Flexible Robot Skin for Safe and Natural Human–Robot Collaboration." Micromachines 9, no. 11 (2018): 576. http://dx.doi.org/10.3390/mi9110576.

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For industrial manufacturing, industrial robots are required to work together with human counterparts on certain special occasions, where human workers share their skills with robots. Intuitive human–robot interaction brings increasing safety challenges, which can be properly addressed by using sensor-based active control technology. In this article, we designed and fabricated a three-dimensional flexible robot skin made by the piezoresistive nanocomposite based on the need for enhancement of the security performance of the collaborative robot. The robot skin endowed the YuMi robot with a tact

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Reeve, Ronald, Robert Rongo, and Paul Blomquist. "Flexible Robotics for Shipbuilding." Journal of Ship Production 13, no. 01 (1997): 36–47. http://dx.doi.org/10.5957/jsp.1997.13.1.36.

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A twelve-member team is developing a new paradigm in shipbuilding robotics. The consortium, led by CYBO Robots in conjunction with the Technology Reinvestment Project (TRP), includes shipyards, hightech companies, technical institutes, universities, and federal agencies. The objective is to create and implement robotic technology that allows shipyards to move confidently into automated production of both commercial and combatant vessels, while making maximum use of existing facilities and personnel. Keys to the effort are reliable, easy-to-run robots driven by open-architecture controllers whi

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Barca, Jan Carlo, Eugene Eu-Juin Lee, and Ahmet Sekercioglu. "Flexible Morphogenesis based Formation Control for Multi-Robot Systems." IAES International Journal of Robotics and Automation (IJRA) 2, no. 1 (2013): 26. http://dx.doi.org/10.11591/ijra.v2i1.pp26-34.

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Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic groun

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9

Wang, Xiangru, Wei Song, Tao Xue, and He Tian. "Dynamics Analyses of Rigid-Flexible Coupling of Spot-Welding Robot." Journal of Advanced Manufacturing Systems 19, no. 04 (2020): 855–67. http://dx.doi.org/10.1142/s0219686720500407.

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With the development of electronics, mechanical automation, computer and other related disciplines, and the improvement of product efficiency and quality in modern industry, welding robots are born and play an increasingly important role in industrial production lines. 6R welding robot is most commonly used in industrial production lines, so the research on 6R welding robot has practical application values. In this paper, MS165 Yaskawa robot is selected as the target robot. SolidWorks software is used to establish the three-dimensional model of Yaskawa robot, which is imported into Adams. Dyna

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10

Tian, Yingzhong, Mingxuan Luan, Xu Gao, Wenbin Wang, and Long Li. "Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods." Mathematical Problems in Engineering 2016 (2016): 1–7. http://dx.doi.org/10.1155/2016/6984194.

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This paper presents the kinematic analysis of a continuum bionic robot with three flexible actuation rods. Since the motion of the end-effector is actuated by the deformation of the rods, the robot structure is with high elasticity and good compliance and the kinematic analysis of the robot requires special treatment. We propose a kinematic model based on the geometry with constant curvature. The analysis consists of two independent mappings: a general mapping for the kinematics of all robots and a specific mapping for this kind of robots. Both of those mappings are developed for the single se

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Aliff, Mohd, Shujiro Dohta, and Tetsuya Akagi. "Simple Trajectory Control Method of Robot Arm Using Flexible Pneumatic Cylinders." Journal of Robotics and Mechatronics 27, no. 6 (2015): 698–705. http://dx.doi.org/10.20965/jrm.2015.p0698.

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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/12.jpg"" width=""300"" /> Flexible robot arm</div>Robots, due to their excellent speed, accuracy and cost-effectiveness in repetitive tasks, now have a tendency to be used in rehabilitation field. A simple trajectory control of robot arm using flexible pneumatic cylinders and embedded controller which can be used as rehabilitation for human wrist is described. The system consists of the flexible robot arm, an accelerometer, an embedded microcomputer, a potentiometer and compact quasi-servo valves.

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Fuchiwaki, Ohmi, and Hisayuki Aoyama. "Micromanipulation by Miniature Robots in a SEM Vacuum Chamber." Journal of Robotics and Mechatronics 14, no. 3 (2002): 221–26. http://dx.doi.org/10.20965/jrm.2002.p0221.

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In this paper, we describe flexible micromanipulation organized by insect size robots in scanning electron microscopy. Small robots composed of piezo elements and electromagnets move in the SEM chamber with submicron resolution. They manipulate small objects in cooperation with each other. As a basic operation, one small robot, which has a sliding microtable transports samples at the SEM focus point precisely and this sliding table can be also positioned by the other small robot's manipulation. This two-robot cooperation provides x-y accurate positioning at any location within the chamber. On

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Ribuan, Mohamed Najib, Shuichi Wakimoto, Koichi Suzumori, and Takefumi Kanda. "Omnidirectional Soft Robot Platform with Flexible Actuators for Medical Assistive Device." International Journal of Automation Technology 10, no. 4 (2016): 494–502. http://dx.doi.org/10.20965/ijat.2016.p0494.

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This manuscript explains the employment of flexible actuators to act as a soft robot and transporting agent to assist medical X-ray examinations. Although soft robots from silicone material can be transparence and a human compliance used as medical assistive devices, soft robots have some problems: they tend to be sluggish, have long and imprecise gait trajectories, and need their control parameters to be adjusted for motion diversion. A soft robot with omnidirectional locomotion has been created, one that has a combination of pneumatic rubber legs that form a soft robot platform and an associ

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Takanobu, H., T. Kawamura, T. Tandai, S. Saito, and Y. Ojima. "Multi-DOF Flexible Robot." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2004 (2004): 111. http://dx.doi.org/10.1299/jsmermd.2004.111_1.

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15

Massoud, A. T., and H. A. ElMaraghy. "AN IMPEDANCE CONTROL APPROACH FOR FLEXIBLE JOINTS ROBOT MANIPULATORS." Transactions of the Canadian Society for Mechanical Engineering 19, no. 3 (1995): 212–26. http://dx.doi.org/10.1139/tcsme-1995-0010.

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A nonlinear feedback impedance control approach is presented to control the position and/or force of flexible joints robot manipulators interacting with a compliant environment. A feedback linearizable fourth order model of the flexible joint robots interacting with that environment is constructed. In this model, the control input is related directly to the link position vector and its derivatives. A desired target Cartesian impedance is then specified for the end point of the flexible joints robot. A nonlinear feedback control law is derived to linearize the system and to impose the target im

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OR, JIMMY, and ATSUO TAKANISHI. "EFFECT OF A FLEXIBLE SPINE EMOTIONAL BELLY DANCING ROBOT ON HUMAN PERCEPTIONS." International Journal of Humanoid Robotics 04, no. 01 (2007): 21–48. http://dx.doi.org/10.1142/s0219843607000935.

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Recently, there has been a growing interest in human–robot interaction. Researchers in artificial intelligence and robotics have built various types of social robots which can express emotions through speech, facial expressions and hand gestures. Although some of these robots are able to interact with humans in interesting ways, they cannot move as naturally as we do because of the limited number of degrees of freedom in their body torsos (some of them do not even have a torso). Since we often express and perceive each other's emotions and motives at a distance using body language alone, it wo

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LIU, YUBIN, RUOPENG WEI, HUIJUAN DONG, YANHE ZHU, and JIE ZHAO. "A DESIGNATION OF MODULAR MOBILE RECONFIGURABLE PLATFORM SYSTEM." Journal of Mechanics in Medicine and Biology 20, no. 09 (2020): 2040006. http://dx.doi.org/10.1142/s0219519420400060.

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Mobile robots working in special environment have to adapt for unknown and complex environment characteristics, so high mobility, functional versatility and robustness of mobile robots are required. Different from specialized robot designed for single function in single environment, single unit of modular reconfigurable robots has simple mechanical structure, flexible movement and maneuverability; meanwhile, the combination of multiple units has flexible and versatile configuration, combined with distributed control and swarm intelligence algorithm to gain environmental adaptability and functi

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18

Wei, Yongle, Jiashun Zhang, and Lijin Fang. "Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable." Journal of Robotics 2021 (April 19, 2021): 1–14. http://dx.doi.org/10.1155/2021/8885919.

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The overhead transmission line has a catenary shape, which has great influence on the dynamic characteristics of an inspection robot walking along the line and may even cause the walking-wheel to fall from the line. Compared with other similar inspection robots, the unique structure of the dual-arm inspection robot with flexible-cable is introduced. Taking the dual-arm inspection robot with flexible-cable walking along the uphill section of the line as an example, the force states of the robot when it works at acceleration, uniform speed, deceleration, and stopping were studied in detail. The

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19

Chai, H., WJ Ge, F. Yang, and GM Yang. "Autonomous jumping robot with regulable trajectory and flexible feet." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228, no. 15 (2014): 2820–32. http://dx.doi.org/10.1177/0954406214522989.

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In this paper, a prototype of jumping robot with flexible feet is proposed to surmount obstacle efficiently. A six-bar adjustable mechanism for regulating jumping height and distance as well as a self-righting mechanism for uprighting after falling down are presented. The jumping height, jumping distance and energy conversion efficiency (ECE) are analyzed and tested, respectively, through dynamics modeling and jumping experiments. Taking advantage of flexible feet whose parameters are optimally designed, both the ground impulse acting on the robot and external kinetic energy relating to the mo

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Lin, Yueh-Jaw, and Aiping Yu. "Linear robust trajectory control of flexible joint manipulators." Robotica 14, no. 4 (1996): 375–80. http://dx.doi.org/10.1017/s0263574700019767.

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SUMMARYThis paper presents a practical approach for the point-to-point control of elastic-jointed robot manipulators. With the proposed approach only position and velocity feedback are referenced, as opposed to most of the existing control schemes of elastic-jointed manipulators which require additional acceleration and/or jerk feedback. To guarantee the robustness of the controller, it is designed on extreme parameter uncertainties due to highly elastic joints of manipulators and energy motivated Lyapunov functions are used to derive the control law. Four pertinent controller gains are chosen

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Wang, Wei, Shilin Wu, Peihua Zhu, and Xuepeng Li. "Design and experimental study of a new thrown robot based on flexible structure." Industrial Robot: An International Journal 42, no. 5 (2015): 441–49. http://dx.doi.org/10.1108/ir-03-2015-0049.

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Purpose – The paper aims to present a new thought for design of a thrown robot based on flexible structures. The aim of the design is to reduce the weight and improve the anti-impact capability for mini thrown robot. Design/methodology/approach – A mass-spring wheeled robot model is proposed and an impact analysis is given in this paper. Some principia were derived for configuration design and material choice to get a light and robust thrown reconnaissance robot. Based on the theoretical analysis, flexible elements like flexure hinges or rubber shell were utilized to build two generation of ro

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de Rivals-Mazères, G., W. Yim, F. Mora-Camino, and S. N. Singh. "Inverse control and stabilization of free-flying flexible robots." Robotica 17, no. 3 (1999): 343–50. http://dx.doi.org/10.1017/s0263574799001332.

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The question of control and stabilization of flexible space robots is considered. Although, this approach is applicable to space robots of other configurations, for simplicity, a flexible planar two-link robot, mounted on a rigid floating platform, is considered. The robotic arm has two revolute joints and its links undergo elastic deformation in the plane of rotation. Based on nonlinear inversion technique, a control law is derived for controlling output variables describing the position and orientation of the platform and the joint angles of the robot. Although, the inverse controller accomp

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Rogalinski, Paweł. "An approach to automatic robots programming in the flexible manufacturing cell." Robotica 12, no. 3 (1994): 263–79. http://dx.doi.org/10.1017/s0263574700017239.

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SUMMARYThe paper presents an approach to automatic synthesis of program for robots in a flexible manufacturing cell (FMC). The system of program generation consists of two layers: Task-Level Programming Layer and Program Interpretation and Verification Layer. The first layer uses robot-independent planning techniques to create a work plan for robots (set of elementary actions) and program for each elementary action. The second layer uses robot-dependent planning methods to plan robot's trajectories and calculate the robot's motion times. A simulation model of whole FMC, which is created based

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Hichri, Bassem, Lounis Adouane, Jean-Christophe Fauroux, Youcef Mezouar, and Ioan Doroftei. "Flexible co-manipulation and transportation with mobile multi-robot system." Assembly Automation 39, no. 3 (2019): 422–31. http://dx.doi.org/10.1108/aa-12-2017-190.

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Purpose The purpose of this paper is to address optimal positioning of a group of mobile robots for a successful manipulation and transportation of payloads of any shape. Design/methodology/approach The chosen methodology to achieve optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation is presented. This appropriate configuration of the set of robots is obtained by combining constraints ensuring stable and safe lifting and transport of the payload. A suitable control law is then used to track a virtual structure

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Mu, Hui Jin. "Study on Variable Structure Vibration Control for Flexible Manipulator." Advanced Materials Research 875-877 (February 2014): 1961–66. http://dx.doi.org/10.4028/www.scientific.net/amr.875-877.1961.

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In recent years, modeling and control of flexible space robots are extensively researched. Compared with traditional rigid robots, flexible robots have low energy consumption, wide operating space, high carrying capacity and other characteristics. However, due to its special structure, the robot arm will get deformation and vibration in motion, which brings a lot of problems to the positioning and tracking control of flexible space robots. Therefore, directing at the dynamics modeling and control issues of the free-floating flexible dual-arm space robots, this article carries out in-depth stud

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Chalhoub, Nabil G., and A. Galip Ulsoy. "Dynamic Simulation of a Leadscrew Driven Flexible Robot Arm and Controller." Journal of Dynamic Systems, Measurement, and Control 108, no. 2 (1986): 119–26. http://dx.doi.org/10.1115/1.3143753.

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High performance requirements in robotics have led to the consideration of structural flexibilty in robot arms. This paper employs an assumed modes method to model the flexible motion of the last link of a spherical coordinate robot arm. The model, which includes the non backdrivability of the leadscrews, is used to investigate relationships between the arm structural flexibility and a linear controller for the rigid body motion. This simple controller is used to simulate the controllers currently used in industrial robots. The simulation results illustrate the differences between leadscrew dr

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Wang, Zheng Dong, Kai He, Hai Tao Fang, and Ru Xu Du. "Design of Embedded Controller with Flexible Programming for Industrial Robot." Applied Mechanics and Materials 457-458 (October 2013): 1390–95. http://dx.doi.org/10.4028/www.scientific.net/amm.457-458.1390.

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This paper presents an embedded controller of low cost and high performance for industrial robot. The ARM microprocessor is chosen as the main controller for the processor. Based on the 7-segment cubic spline interpolation algorithm, a real-time control for the robot is implemented. This proposed trajectory method can perfectly generates speed S-curve shape for a start-stop process of the robot. In this article a programming language, G-code, is developped for the robots motion control by using the editing interface we designed specially on PC platform. With all the features for 2-4 degree of

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Badamchizadeh, Mohammad Ali, Iraj Hassanzadeh, and Mehdi Abedinpour Fallah. "Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation." Discrete Dynamics in Nature and Society 2010 (2010): 1–14. http://dx.doi.org/10.1155/2010/482972.

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Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both observers are designed for the same model and run with the same covariance matrices under the same initial conditions. A five-bar linkage robot with revolute flexible joints is considered as a case study.

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Zhang, Jian Hua, Da Wei Fu, and Xiao Jun Zhang. "Study on the Bearing Flexible Assembly by Three Joints Robot." Advanced Materials Research 422 (December 2011): 131–35. http://dx.doi.org/10.4028/www.scientific.net/amr.422.131.

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Assembly is an important process in the manufacturing processes. For the badly self-adaptive and flexibility, the stuck phenomena and inefficient are often occurred with certain the assembly precision and fit, by using the robot for assembly. In this paper, the kinematics analysis of the three joints robot, which is used to assembly the bearing, is analyzed; the end joint movement angle formula is calculated. The force sensor is used during the assembly process. To ensure the assembly process, a new way is proposed to find the compliant assembly centre, which help the assembly robot to complic

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Wang, Wenjie, Qing Tao, Xiaohua Wang, Yuting Cao, and Congcong Chen. "Denim-fabric-polishing robot size optimization based on global spatial dexterity." Mechanical Sciences 12, no. 1 (2021): 649–60. http://dx.doi.org/10.5194/ms-12-649-2021.

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Abstract. This paper presents a novel method to make denim-fabric-polishing robots perform their primary task flexibly and efficiently within a limited workspace. Link lengths are optimized based on an adaptive fireworks algorithm to improve the comprehensive dexterity index. A forward kinematics analysis of the denim-fabric-polishing robot is conducted via the D–H method; the workspace is analyzed according to the needs at hand to determine the range of motion of each joint. To solve the movement condition number of the Jacobian matrix, the concept of low-condition-number probability is estab

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Or, Jimmy. "A Control System for a Flexible Spine Belly-Dancing Humanoid." Artificial Life 12, no. 1 (2006): 63–88. http://dx.doi.org/10.1162/106454606775186464.

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Recently, there has been a lot of interest in building anthropomorphic robots. Research on humanoid robotics has focused on the control of manipulators and walking machines. The contributions of the torso towards ordinary movements (such as walking, dancing, attracting mates, and maintaining balance) have been neglected by almost all humanoid robotic researchers. We believe that the next generation of humanoid robots will incorporate a flexible spine in the torso. To meet the challenge of controlling this kind of high-degree-of-freedom robot, a new control architecture is necessary. Inspired b

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Li, Xiali, and Licheng Wu. "Impact motion control of a flexible dual-arm space robot for capturing a spinning object." International Journal of Advanced Robotic Systems 16, no. 3 (2019): 172988141985753. http://dx.doi.org/10.1177/1729881419857534.

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As an autonomous vehicle that moves on the space orbit, a space robot needs to be carefully treated on the motion planning and control method. In this article, the optimal impact and postimpact motion control of a flexible dual-arm space robot capturing a spinning object are considered. Firstly, the dynamic model of the robot systems is built by using Lagrangian formulation. The flexible links are modeled as Euler–Bernoulli beams of two bending modes. Through simulating the system’s postimpact dynamics response, the initial conditions are obtained from the impact model. Next, the initial veloc

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Samadi Gharajeh, Mohammad, and Hossein B. Jond. "Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning." Sensors 21, no. 10 (2021): 3433. http://dx.doi.org/10.3390/s21103433.

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Mobile robots are endeavoring toward full autonomy. To that end, wheeled mobile robots have to function under non-holonomic constraints and uncertainty derived by feedback sensors and/or internal dynamics. Speed control is one of the main and challenging objectives in the endeavor for efficient autonomous collision-free navigation. This paper proposes an intelligent technique for speed control of a wheeled mobile robot using a combination of fuzzy logic and supervised machine learning (SML). The technique is appropriate for flexible leader-follower formation control on straight paths where a f

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Luo, Yi, Olivier Gibaru, and Adel Olabi. "Dynamic Simulation of the Six Axis Machining Robot for Trajectory Planning in CATIA-LMS." Applied Mechanics and Materials 163 (April 2012): 74–78. http://dx.doi.org/10.4028/www.scientific.net/amm.163.74.

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Nowadays six axis machining robots are widely used in many fields of industry. Compared to machine tools, industrial robots offer a cheaper yet more flexible alternative to the machine-tools in the cleaning and pre-machining applications of aluminum castings. But the low stiffness has limited the application of industrial robots to the machining tasks with very low precision requirement. This paper presents a practical approach to improve the robot-machining accuracy by developing an off line simulation tool. Firstly we will complete the dynamic simulation of the 6-axis stiff model in CATIA-LM

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Duong Xuan, Bien. "Dynamics and control analysis of a single flexible link robot with translational joints." Science & Technology Development Journal - Engineering and Technology 3, no. 4 (2020): first. http://dx.doi.org/10.32508/stdjet.v3i4.801.

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Modern design always aims at reducing mass, simplifying the structure, and reducing the energy consumption of the system especially in robotics. These targets could lead to lowing cost of the material and increasing the operating capacity. The priority direction in robot design is optimal structures with longer lengths of the links, smaller and thinner links, more economical still warranting ability to work. However, all of these structures such as flexible robots are reducing rigidity and motion accuracy because of the effect of elastic deformations. Therefore, taking the effects of elastic f

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JIANG, Zhao Hui, and Masaru UCHIYAMA. "Compensability of flexible robot arms." Journal of the Robotics Society of Japan 6, no. 5 (1988): 416–23. http://dx.doi.org/10.7210/jrsj.6.5_416.

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Bremer, H. "Fast Moving Flexible Robot Dynamics." IFAC Proceedings Volumes 30, no. 20 (1997): 45–52. http://dx.doi.org/10.1016/s1474-6670(17)44242-x.

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Rivera-Serrano, Carlos M., Paul Johnson, Brett Zubiate, et al. "A transoral highly flexible robot." Laryngoscope 122, no. 5 (2012): 1067–71. http://dx.doi.org/10.1002/lary.23237.

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Enriquez, A. L., A. H. Eltimsahy, and M. M. Jamali. "Flexible control for robot manipulators." IEEE Micro 15, no. 6 (1995): 55–60. http://dx.doi.org/10.1109/40.476259.

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40

Bodden, Christopher, Daniel Rakita, Bilge Mutlu, and Michael Gleicher. "A flexible optimization-based method for synthesizing intent-expressive robot arm motion." International Journal of Robotics Research 37, no. 11 (2018): 1376–94. http://dx.doi.org/10.1177/0278364918792295.

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We present an approach to synthesize robot arm trajectories that effectively communicate the robot’s intent to a human collaborator while achieving task goals. Our approach uses nonlinear constrained optimization to encode task requirements and desired motion properties. Our implementation allows for a wide range of constraints and objectives. We introduce a novel objective function to optimize robot arm motions for intent-expressiveness that works in a range of scenarios and robot arm types. Our formulation supports experimentation with different theories of how viewers interpret robot motion

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Subudhi, Bidyadhar, Subhakanta Ranasingh, and Ajaha Swain. "Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator." Archives of Control Sciences 21, no. 3 (2011): 269–85. http://dx.doi.org/10.2478/v10170-010-0043-2.

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Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniq

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Madsen, Emil, Simon Aagaard Timm, Norbert Andras Ujfalusi, Oluf Skov Rosenlund, David Brandt, and Xuping Zhang. "Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators." Mathematical Problems in Engineering 2020 (September 17, 2020): 1–13. http://dx.doi.org/10.1155/2020/8709870.

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Many collaborative robots use strain-wave-type transmissions due to their desirable characteristics of high torque capacity and low weight. However, their inherent complex and nonlinear behavior introduces significant errors and uncertainties in the robot dynamics calibration, resulting in decreased performance for motion and force control tasks and lead-through programming applications. This paper presents a new method for calibrating the dynamic model of collaborative robots. The method combines the known inverse dynamics identification model with the weighted least squares (IDIM-WLS) method

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Du, Yanfeng, and Cong Wang. "Dynamic Coupling and Control of Flexible Space Robots." International Journal of Structural Stability and Dynamics 20, no. 09 (2020): 2050103. http://dx.doi.org/10.1142/s0219455420501035.

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The dynamic modeling and coupling effect of a space robot are complex when the flexible manipulator and solar panels are considered. This paper investigates the dynamic coupling effect and control of a flexible space robot with flexible manipulators and flexible panels. The equations of motion are derived for the robot model both of the rigid-flexible type and flexible-flexible type. The flexible space robot dynamic model is verified by comparison with the results generated by the ADAMS software, for which good agreement has been obtained. The dynamic coupling matrix of the flexible space robo

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Niitsuma, Mihoko, and Tamio Tanikawa. "Special Issue on Ambient Intelligence." Journal of Robotics and Mechatronics 23, no. 4 (2011): 465. http://dx.doi.org/10.20965/jrm.2011.p0465.

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With research on human-assist robot systems increasingly using distributed sensors and actuators, robots are expected to provide appropriate real-time real-life support to users. Ambient intelligence, an approach important in realizing human-robot coexistence, helps robot devices adapt and act in real environments, since ambient intelligence is a technology basic to providing such abilities. Flexible, reliable system integration based on environment size and purpose is important in realizing ambient intelligence. The 8 papers in this special issue, all of which explore cutting-edge research, p

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Cohen, R., M. G. Lipton, M. Q. Dai, and B. Benhabib. "Conceptual Design of a Modular Robot." Journal of Mechanical Design 114, no. 1 (1992): 117–25. http://dx.doi.org/10.1115/1.2916904.

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In flexible automation approach to batch or job-shop production the main emphasis has always been on the re-programmability of the elements of a manufacturing system. The assumption that lies behind this philosophy is that “system flexibility” can be achieved through (mainly) software flexibility and limited hardware flexibility. Modular robots introduce a new dimension to flexible automation in terms of hardware flexibility, when compared to conventional industrial robots, in terms of yielding individual global optimal arm geometries for each of the tasks at hand. The objective of our ongoing

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Taira, Tetsuya, and Nobuyuki Yamasaki. "Design and Implementation of the Reconfiguration Mechanism for a Modular Humanoid Robot." Journal of Robotics and Mechatronics 18, no. 3 (2006): 286–98. http://dx.doi.org/10.20965/jrm.2006.p0286.

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This paper describes the design and implementation of the reconfiguration mechanism for a modular humanoid robot. To aid researchers in their works and enable users to request various tasks, humanoid robots are expected to require such reconfiguration mechanism. A robot with the proposed reconfiguration mechanism potentially consists of several functional modules such as arms, mobile components, and heads, and can be used as some kinds of humanoid robots or as several autonomous functional robots. We evaluated the efficiency of our proposed reconfiguration mechanism through the experiences usi

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Chalhoub, N. G., and A. G. Ulsoy. "Control of a Flexible Robot Arm: Experimental and Theoretical Results." Journal of Dynamic Systems, Measurement, and Control 109, no. 4 (1987): 299–309. http://dx.doi.org/10.1115/1.3143859.

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The operation of high precision robots is severely limited by. their manipulator dynamic deflection, which persists for a period of time after a move is completed. These unwanted vibrations deteriorate the end effector positional accuracy and reduce significantly the robot arm production rate. A “rigid and flexible motion controller” is derived to introduce additional damping into the flexible motion. This is done by using additional sensors to measure the compliant link vibrations and feed them back to the controller. The existing actuators at the robot joints are used (i.e., no additional ac

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Sheng, Lianchao, Wei Li, Yuqiao Wang, Xuefeng Yang, and Mengbao Fan. "Rigid-flexible coupling dynamic model of a flexible planar parallel robot for modal characteristics research." Advances in Mechanical Engineering 11, no. 1 (2019): 168781401882346. http://dx.doi.org/10.1177/1687814018823469.

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The increasing applications of flexible parallel robots in industrial production have presented the advantages of light weight and high speed, but at the same time, the elastic vibration problem has emerged. By investigating the modal features of flexible parallel robots so as to suppress the elastic vibration, with pinned-pinned as flexible intermediate links boundary conditions, this article analyzes the rigid-flexible coupling dynamic mathematical model of the 3-RRR (3-Rotate-Rotate-Rotate) flexible planar parallel robot with flexible intermediate links. The effect of the extremity concentr

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Tian, Fu Yang, Yu Dao Li, Zhen Wang, and Fa De Li. "Efficient Recursive Dynamics and Real Time Simulation of Flexible Space Robots System." Advanced Materials Research 842 (November 2013): 546–52. http://dx.doi.org/10.4028/www.scientific.net/amr.842.546.

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As space robots gain more and more importance in space operations, it was becoming imperative to understand their distinctive dynamics. The dynamics model of the space flexible robots is very complex, and the differential equation derived from dynamics was solved difficultly and slowly. In this paper the efficient recursive O(n) dynamics algorithm of space flexible robots systems with rigid base and flexible manipulators was discussed, and the fast efficient integration method was used to solve this dynamics equation for real time simulation. Simulations results show that the dynamic modeling

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Wee, Sung-Gil, Yanyan Dai, Tae Hun Kang, and Suk-Gyu Lee. "Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot." Advances in Mechanical Engineering 11, no. 6 (2019): 168781401985733. http://dx.doi.org/10.1177/1687814019857339.

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This article describes a novel multi-robot formation control based on a switching technique that allows follower robots to maintain formation when the leader robot’s direction changes rapidly or unexpectedly. The formation pattern is determined using Virtual Robot’s Center of the multi-robot formation. To avoid collision, the formation of robots reformed in optimal size by estimating the distance between the robot and an obstacle in real time. When the leader robot suddenly changes its direction, waypoints of follower robots are switched and the formation is quickly reconstructed. This prevent

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