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Journal articles on the topic '–link robot manipulator'

Author: Grafiati

Published: 5 June 2025

Last updated: 2 August 2025

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1

Petroka, R. P., and Liang-Wey Chang. "Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 111, no. 4 (1989): 667–72. http://dx.doi.org/10.1115/1.3153111.

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Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model

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2

Omarov, M., V. Korobskyi, and V. Nevliudova. "FEATURES OF KINEMATICS AND CONTROL OF MULTI-LINK MANIPULATOR ROBOTS." Системи управління, навігації та зв’язку. Збірник наукових праць 1, no. 71 (2023): 127–33. http://dx.doi.org/10.26906/sunz.2023.1.127.

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The subject of research is multi-link manipulators, their kinematics and methods of controlling multi-link manipulator robots. To improve the accuracy of movement of each link and their synergy of work with each other during operation. In addition, the subject of the research is the analysis of the requirements for multi-link robot manipulators and the improvement of the kinematics of the robot-manipulator movements based on the comparison of mathematical methods in operating conditions. In different operating conditions manipulators and the automation of the production line is a big step for

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3

Glushko, S. P. "Calculation of Angular Coordinates for the Control System of a Two-Link Industrial Robot Manipulator." Advanced Engineering Research 22, no. 4 (2023): 346–52. http://dx.doi.org/10.23947/2687-1653-2022-22-4-346-352.

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Introduction. One of the tasks of two-link manipulators of industrial robots that move the end-effector along complex trajectories (e.g., robot welder) is associated with the need for careful programming of their movement. For these purposes, manual programming methods or training methods are used. These methods are quite labor-intensive, and they require highly qualified service personnel. A possible solution to the problem of programming the manipulator movements is the simulation of motion with the calculation of angular coordinates. This can help simplify the geometric adaptation of the ma

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4

Gupta, Mukul Kumar, Roushan Kumar, Varnita Verma, and Abhinav Sharma. "Robust Control Based Stability Analysis and Trajectory Tracking of Triple Link Robot Manipulator." Journal Européen des Systèmes Automatisés 54, no. 4 (2021): 641–47. http://dx.doi.org/10.18280/jesa.540414.

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In this paper the stability and tracking control for robot manipulator subjected to known parameters is proposed using robust control technique. The modelling of robot manipulator is obtained using Euler- Lagrange technique. Three link manipulators have been taken for the study of robust control techniques. Lyapunov based approach is used for stability analysis of triple link robot manipulator. The Ultimate upper bound parameter (UUBP) is estimated by the worst-case uncertainties subject to bounded conditions. The proposed robust control is also compared with computer torque control to show th

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Tarvirdizadeh, Bahram, Khalil Alipour, and Alireza Hadi. "An algorithm for dynamic object manipulation by a flexible link robot." Engineering Computations 33, no. 5 (2016): 1508–29. http://dx.doi.org/10.1108/ec-06-2015-0145.

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Purpose – The purpose of this paper is to focus on an online closed-loop (CL) approach for performing dynamic object manipulation (DOM) by a flexible link manipulator. Design/methodology/approach – Toward above goal, a neural network and optimal control are integrated in a closed-loop structure, to achieve a robust control for online DOM applications. Additionally, an elegant novel numerical solution method will be developed which can handle the split boundary value problem resulted from DOM mission requirements for a wide range of boundary conditions. Findings – The obtained simulation result

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Bhatti, P. K., and S. S. Rao. "Reliability Analysis of Robot Manipulators." Journal of Mechanisms, Transmissions, and Automation in Design 110, no. 2 (1988): 175–81. http://dx.doi.org/10.1115/1.3258923.

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A probabilistic approach to robot kinematics is presented and the concept of manipulator reliability is introduced to obtain a better evaluation of the performance of manipulators. Techniques are presented to compute this reliability and its relationship to the geometric parameters such as tolerances and arm configuration are discussed. The aspects of accuracy and repeatability of manipulators are explained in terms of manipulator reliability. The reliability of a two-link planar manipulator and the Stanford arm are considered for numerical illustration.

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Zhang, J., and J. Rastegar. "Micro/Macro or Link-Integrated Micro-actuator Manipulation—A Kinematics and Dynamics Perspective." Journal of Mechanical Design 129, no. 10 (2006): 1086–93. http://dx.doi.org/10.1115/1.2757193.

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Smart (active) materials based actuators, hereinafter called micro-actuators, have been shown to be well suited for the elimination of high harmonics in joint and/or end-effector motions of robot manipulators and in the reduction of actuator dynamic response requirements. Low harmonic joint and end-effector motions, as well as low actuator dynamic response requirements, are essential for a robot manipulator to achieve high operating speed and precision with minimal vibration and control problems. Micro-actuators may be positioned at the end-effector to obtain a micro- and macro-robot manipulat

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8

Li, Chang-Jin, and T. S. Sankar. "Linearized Inverse Dynamic Models for Robot Manipulators With Varying Link Parameters." Journal of Mechanical Design 116, no. 1 (1994): 338–43. http://dx.doi.org/10.1115/1.2919370.

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In this paper, two fast computational algorithms are developed for effective formulation for the linearized inverse dynamic robot models with varying (kinematic and dynamic) link parameters. The proposed algorithms can generate complete linearized inverse dynamic models for robot manipulators, taking variations (e.g., inexactness, inconstancy, or uncertainty) of the kinematic and dynamic link parameters into account. They can be applied to any robot manipulator with rotational and/or translational joints, and can be utilized. The computational complexity of these algorithms is only of order O(

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9

Minami, Mamoru, Hiroshi Tanaka, and Yasushi Mae. "Avoidance Ability of Redundant Mobile Manipulators During Hand Trajectory Tracking." Journal of Advanced Computational Intelligence and Intelligent Informatics 11, no. 2 (2007): 135–41. http://dx.doi.org/10.20965/jaciii.2007.p0135.

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We propose a criterion of obstacle avoidance for a mobile manipulator, consisting of a redundant manipulator and a mobile robot. In the configuration control study of redundant manipulators, the avoidance manipulability ellipsoid and the avoidance manipulability shape index have been suggested as an index to symbolize avoidance ability of the manipulator’s shape when the hand tracks a desired trajectory. In following proposed criteria of obstacle avoidance ability, we extend concepts for mobile manipulators to discuss the avoidance ability of intermediate links for mobile operations. We start

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10

Lo´pez-Linares, S., A. Konno, and M. Uchiyama. "Vibration Controllability of 3D Flexible Manipulators." Journal of Dynamic Systems, Measurement, and Control 119, no. 2 (1997): 326–30. http://dx.doi.org/10.1115/1.2801258.

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Structural vibrations of flexible robots are not always fully controllable in all the workspace. In some cases, there exist configurations where the actuators cannot affect some of the vibration modes, and thus cannot control their vibrations. This problem has been neglected in the case of the one-link and two-link planar manipulators; however, it must be dealt with in depth when trying to control a 3D flexible robot. This paper discusses the vibration controllability of flexible manipulators. Vibration uncontrollable configurations are estimated both by the minimum singular values of the cont

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11

Shah, Jolly Atit, and S. S. Rattan. "Dynamic Analysis Of Two Link Robot Manipulator For Control Design Using PID Computed Torque Control." IAES International Journal of Robotics and Automation (IJRA) 5, no. 4 (2016): 277. http://dx.doi.org/10.11591/ijra.v5i4.pp277-283.

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<p>Due to their advantage of high speed, accuracy and repeatability, robot manipulators have become major component of manufacturing industries and even now a days they become part of routine life. </p><p>Two link robot manipulator is a very basic classical and simple example of robot followed in understanding of basic fundamentals of robotic manipulator. The equation of motion for two link robot is a nonlinear differential equation. For higher degrees of freedom, as the closed form solutions are very difficult we have to use numerical solution. Here we focused mainly on cont

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Ganouche, A., L. Messikh, E. Guechi, I. Bekkouche, and M. Ouaras. "Design of an Optimal Multivariable PID Controller for a Two-Link Robot Arm." Algerian Journal of Signals and Systems 9, no. 3 (2024): 142–46. http://dx.doi.org/10.51485/ajss.v9i3.223.

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Incorporating manipulator robots into various industries has revolutionized automation and manufacturing processes. Manipulator robots are versatile machines equipped with robotic arms and end-effectors, enabling them to handle complex tasks with precision and efficiency. This research aims to design an optimal Mutivariable PID (MPID) controller that ensures precise and accurate movements of two-link robot arm. Theoretical foundations of the MPID controller are discussed together with its relevance to robotic arm systems, and the challenges associated with its implementation. The research meth

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Hurski, N. N., Yu A. Skudnyakov, V. S. Artsiushchyk, and A. N. Bezruchko. "Control of Mechatronic System Based on Multilink Robot-Manipulators." Science & Technique 18, no. 4 (2019): 350–54. http://dx.doi.org/10.21122/2227-1031-2019-18-4-350-354.

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The task of controlling multi-link robots with manipulators for implementation of high-tech processes in industry has been considered in the paper. The paper presents sequential steps of using computer technology in construction of robotic-manipulators, including mathematical, algorithmic, and hardware and software tools for creating a multi-drive mechatronic system controlled by OMRON industrial microcontroller. A kinematic scheme of a robot manipulator has been described in the paper and it performs the following two types of movements – rotation around the z axis and rectilinear movement of

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Bien, Duong Xuan, Chu Anh My, and Phan Bui Khoi. "Dynamic analysis of two-link flexible manipulator considering the link length ratio and the payload." Vietnam Journal of Mechanics 39, no. 4 (2017): 303–13. http://dx.doi.org/10.15625/0866-7136/9234.

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Dynamic modeling and analysis of flexible manipulators play an essential role in optimizing mechanical design parameters and control law of real robot systems. In this paper, a nonlinear dynamic model of a manipulator is formulated based on the Finite Element Method. To analyze the dynamic behavior effectively, a numerical simulation scheme is proposed by taking full advantages of MATLAB and SIMULINK toolboxes. In this manner, the effect of varying payload and link length ratio of the manipulator to its elastic displacement is dynamically taken into account. The simulation results show that th

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Tian, Shi Xiang, and Sheng Ze Wang. "An Image-Based Visual Servoing for Manipulator." Advanced Materials Research 186 (January 2011): 277–80. http://dx.doi.org/10.4028/www.scientific.net/amr.186.277.

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In this paper, an image-based controller for tracking control of robot manipulators using a single camera is proposed. The proposed controller has robustness to parametric uncertainties of the robot manipulator and compensation for uncertainties included in the image Jacobian. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulation experiments on a 3-link robot manipulator with three degree of freedom.

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Duleba, Ignacy, and Jerzy Z. Sasiadek. "Modified Jacobian method of transversal passing through the smallest deficiency singularities for robot manipulators." Robotica 20, no. 4 (2002): 405–15. http://dx.doi.org/10.1017/s0263574702004095.

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This paper proposes a method for transversal passing through singularities of corank 1, both for nonredundant and redundant robotic manipulators. The method modifies the Jacobian matrix of manipulator's forward kinematics to retrieve its full rank at singularities. Natural candidates for the Jacobian matrix modification are derivatives of determinants of full size sub-matrices of the Jacobian matrix. The method is illustrated with examples, including a PUMA manipulator and 2-link and 3-link planar manipulators. Some restrictions on the applicability of the method for nonredundant manipulators

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Ahmed A.A. and Alyaa H.A. "DESIGN OPTIMIZATION OF SERIAL ROBOT MANIPULATOR." Journal of Engineering 17, no. 03 (2011): 558–76. http://dx.doi.org/10.31026/j.eng.2011.03.16.

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Optimal design of three links and four links serial manipulator involves striking a balance between anappropriate link length, radius, link exact end effecter deflection and the amount of stress induced in eachlink. Optimization has been applied for getting a minimum robot weight through making the robot armsection tapered while keeping the first link as cylindrical tube as it represent the robot base only. Thesynthesis optimization problem involves setting up guess values for links length and radius subjected toconstraints of deflection, stress and geometric constraints of total robot length.

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18

Lyashkov, A. A., and T. A. Sheveleva. "ANALYSIS OF THE WORKING SPACE OF A TWO-LINK PLANAR MANIPULATOR." Vestnik komp'iuternykh i informatsionnykh tekhnologii, no. 235 (January 2024): 22–30. http://dx.doi.org/10.14489/vkit.2024.01.pp.022-030.

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Workspace and singularity analysis of serial manipulators are the focus of intense research in past decades. The computation of the workspace and its boundary is of significant interest because of their impact on manipulator design, placement in a working environment and trajectory planning. The methodology of geometric and computer modeling of the working space of a two-link planar manipulator is provided. Robot workspace is the set of positions which robot can reach. Workspace is one of most useful measures for the evaluation of robot. It’s usually defined as the reachable space of the end e

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Li, Zexin, Feng Xu, Dongsheng Guo, Pingjiang Wang, and Bo Yuan. "New P-type RMPC Scheme for Redundant Robot Manipulators in Noisy Environment." Robotica 38, no. 5 (2019): 775–86. http://dx.doi.org/10.1017/s0263574719001036.

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SUMMARYRepetitive motion planning and control (RMPC) is a significant issue in the research of redundant robot manipulators. Moreover, noise from rounding error, truncation error, and robot uncertainty is an important factor that greatly affects RMPC schemes. In this study, the RMPC of redundant robot manipulators in a noisy environment is investigated. By incorporating the proportional and integral information of the desired path, a new RMPC scheme with pseudoinverse-type (P-type) formulation is proposed. Such a P-type RMPC scheme possesses the suppression of constant and bounded time-varying

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20

Ho, C. Y., and Sriwattanathamma Jen. "Differential relationship of kinematic model and speed control strategies for a computer-controlled robot manipulator." Robotica 4, no. 3 (1986): 155–62. http://dx.doi.org/10.1017/s0263574700009334.

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SummaryThis paper describes a new approach to obtaining a differential relationship of a robot manipulator via the Theoretical Kinematics method which may expedite computational efforts. The method involves a successive transformation of velocities from the end-effector to the base of the manipulator, link by link, using the relationship of moving coordinate systems. The equations obtained are written in the form suitable for programming on a digital computer. Furthermore, this paper also discusses the speed control model for general robot manipulators and together presents the Inverse Jacobia

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Nagata, Kazuyuki, Tsukasa Ogasawara, and Toru Omata. "Optimum Velocity Vector of Articulated Robot for Soft Bumping." Journal of Robotics and Mechatronics 4, no. 5 (1992): 407–15. http://dx.doi.org/10.20965/jrm.1992.p0407.

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Controlling manipulators during the transition from the free space to the constraint space is important to avoid vibration or crashing of a grasped object in assembly tasks. This paper discusses smoothing the contact of an articulated manipulator with the object in the transition from the free space to the constraint space. We point out that lateral velocities significantly change the momentum of the manipulator and thus much reduce the contact impact while keeping the pose of the manipulator and the velocity in the direction perpendicular to the contact surface. First, we derive the optimal b

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Sharkawy, Abdel-Nasser, Panagiotis N. Koustoumpardis, and Nikos Aspragathos. "Neural Network Design for Manipulator Collision Detection Based Only on the Joint Position Sensors." Robotica 38, no. 10 (2019): 1737–55. http://dx.doi.org/10.1017/s0263574719000985.

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SUMMARYIn this paper, a multilayer feedforward neural network (NN) is designed and trained, for human–robot collisions detection, using only the intrinsic joint position sensors of a manipulator. The topology of one NN is designed considering the coupled dynamics of the robot and trained, with and without external contacts, by Levenberg–Marquardt algorithm to detect unwanted collisions of the human operator with the manipulator and the link that is collided. The proposed approach could be applied to any industrial robot, where only the joint position signals are available. The designed NN is c

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Khaleel, Hind Z. "Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN." Al-Khwarizmi Engineering Journal 14, no. 1 (2018): 136–44. http://dx.doi.org/10.22153/https://doi.org/10.22153/kej.2018.10.008.

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A demonstration of the inverse kinematics is a very complex problem for redundant robot manipulator. This paper presents the solution of inverse kinematics for one of redundant robots manipulator (three link robot) by combing of two intelligent algorithms GA (Genetic Algorithm) and NN (Neural Network). The inputs are position and orientation of three link robot. These inputs are entering to Back Propagation Neural Network (BPNN). The weights of BPNN are optimized using continuous GA. The (Mean Square Error) MSE is also computed between the estimated and desired outputs of joint angles. In this

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Khaleel, Hind Z. "Inverse Kinematics Solution for Redundant Robot Manipulator using Combination of GA and NN." Al-Khwarizmi Engineering Journal 14, no. 1 (2018): 136–44. http://dx.doi.org/10.22153/kej.2018.10.008.

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A demonstration of the inverse kinematics is a very complex problem for redundant robot manipulator. This paper presents the solution of inverse kinematics for one of redundant robots manipulator (three link robot) by combing of two intelligent algorithms GA (Genetic Algorithm) and NN (Neural Network). The inputs are position and orientation of three link robot. These inputs are entering to Back Propagation Neural Network (BPNN). The weights of BPNN are optimized using continuous GA. The (Mean Square Error) MSE is also computed between the estimated and desired outputs of joint angles. In this

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Rahmanian-Shahri, N., and I. Troch. "Collision-avoidance control for redundant articulated robots." Robotica 13, no. 2 (1995): 159–68. http://dx.doi.org/10.1017/s0263574700017665.

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SummaryA new mathematical formulation of robot and obstacles is presented such that for on-line collision recognition only robot joint positions in the workspace are required. This reduces calculation time essentially because joint positions in workspace can be computed every time from the joint variables through robot geometry. It is assumed that the obstacles in the workspace of the manipulator are represented by convex polygons. For every link of the redundant robot and every obstacle a boundary ellipse is defined in workspace such that there is no collision if the robot joints are outside

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Izadbakhsh, Alireza, and Saeed Khorashadizadeh. "Robust task-space control of robot manipulators using differential equations for uncertainty estimation." Robotica 35, no. 9 (2016): 1923–38. http://dx.doi.org/10.1017/s0263574716000588.

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SUMMARYMost control algorithms for rigid-link electrically driven robots are given in joint coordinates. However, since the task to be accomplished is expressed in Cartesian coordinates, inverse kinematics has to be computed in order to implement the control law. Alternatively, one can develop the necessary theory directly in workspace coordinates. This has the disadvantage of a more complex robot model. In this paper, a robust control scheme is given to achieve exact Cartesian tracking without the knowledge of the manipulator kinematics and dynamics, actuator dynamics and nor computing invers

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Uthayasooriyan, Anuraj, Fernando Vanegas, Amir Jalali, Krishna Manaswi Digumarti, Farrokh Janabi-Sharifi, and Felipe Gonzalez. "Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods." Drones 8, no. 6 (2024): 269. http://dx.doi.org/10.3390/drones8060269.

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Aerial manipulators have seen a rapid uptake for multiple applications, including inspection tasks and aerial robot–human interaction in building and construction. Whilst single degree of freedom (DoF) and multiple DoF rigid link manipulators (RLMs) have been extensively discussed in the aerial manipulation literature, continuum manipulators (CMs), often referred to as continuum robots (CRs), have not received the same attention. This survey seeks to summarise the existing works on continuum manipulator-based aerial manipulation research and the most prevalent designs of continuous backbone te

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Green, Anthony, and Jurek Z. Sasiadek. "Dynamics and Trajectory Tracking Control of a Two-Link Robot Manipulator." Journal of Vibration and Control 10, no. 10 (2004): 1415–40. http://dx.doi.org/10.1177/1077546304042058.

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Operational problems with robot manipulators in space relate to several factors, most importantly, structural flexibility and subsequent difficulties with their position control. In this paper we present control methods for endpoint tracking of a 12.6 × 12.6m2 trajectory by a two-link robot manipulator. Initially, a manipulator with rigid links is modeled using inverse dynamics, a linear quadratic regulator and fuzzy logic schemes actuated by a Jacobian transpose control law computed using dominant cantilever and pinned-pinned assumed mode frequencies. The inverse dynamics model is pursued fur

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Munadi and Tomohide Naniwa. "Experimental Verification of Adaptive Dominant Type Hybrid Adaptive and Learning Controller for Trajectory Tracking of Robot Manipulators." Journal of Robotics and Mechatronics 25, no. 4 (2013): 737–47. http://dx.doi.org/10.20965/jrm.2013.p0737.

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This paper presents an experimental study to verify an adaptive dominant type hybrid adaptive and learning controller for acquiring an accurate trajectory tracking of periodic desired trajectory of robot manipulators. The proposed controller is developed based on combining the model-based adaptive control (MBAC), repetitive learning control (RLC) and proportionalderivative (PD) control in which the MBAC input becomes dominant than other inputs. Dominance of adaptive control input gives the advantage that the proposed controller could adjust the feed-forward motion control input immediately aft

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Lin, J., and C. W. Chen. "Computer-aided-symbolic dynamic modeling for Stewart-platform manipulator." Robotica 27, no. 3 (2009): 331–41. http://dx.doi.org/10.1017/s0263574708004736.

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SUMMARYThe Stewart platform manipulator is a fully kinematic linkage system that has major mechanical differences from typical serial link robots. It is a six-axis parallel robot manipulator with a high force-to-weight ratio and good positioning accuracy that exceeds that of a conventional serial link robot arm. This study examines the dynamic equations and control methodology for a Stewart platform. Because manual symbolic expansion of Stewart platform robot dynamic equations is tedious, time-consuming, and prone to errors, an automated derivation process is highly desired. The main goal of t

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Sirojuddin, Sirojuddin, Siti Solikhah, Ragil Sukarno, and Muhammad Izaz Tamami. "RANCANG BANGUN GRIPPER ROBOT MANIPULATOR 2 DOF KAPASITAS 1,25 KGF." Jurnal Rekayasa Mesin 14, no. 1 (2023): 23–38. http://dx.doi.org/10.21776/jrm.v14i1.999.

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Manipulator robots practically help human to move objects vertically, horizontally, or rotationally. The robot is generally divided into three components, namely arm, base, and gripper with servo motor drive. The aim of this study is to improve the previous gripper robot manipulator design so that it can move 2 DOF (Degree of Freedom) by adding 1 DOF located on the robot gripper, which in previous studies, the robot manipulator gripper was only able to move 1 DOF. In addition, after calculating using Von Mises theory, then design 2D components and this assembly using AutoCAD software. Next des

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Diane, Sekou, and Ekaterina Anikina. "Control of a warehouse manipulator using associative memory technology." Systems engineering and infocommunications, no. 1 (March 31, 2025): 5–10. https://doi.org/10.5281/zenodo.15110828.

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The article describes the generalized structure of the hardware and software of a robotic storage cell based on an autonomous multi-link manipulation robot. Models and algorithms for the robot manipulator control system are proposed. Associative memory technology is used to solve the inverse kinematics problem. The task of forming the route of the robot manipulator is solved through graph analysis. Performing movements to reach a target object is based on nonlinear interpolation of generalized robot coordinates using the Jacobi matrix. The results of experimental studies with an assessment of

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Küçük, Halûk, Gordon Parker, and Eric T. Baumgartner. "Robot positioning of flexible-link manipulator using vision." Robotica 22, no. 3 (2004): 301–7. http://dx.doi.org/10.1017/s0263574703005629.

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Vision-aided flexible link robot positoning using the Camera Space Manipulation (CSM) method is developed. The primary motivation for this work is to use an autonomous vision-aided robotic system to pick-up and accurately move a flexible object that it encounters. The work consists of analytical and experimental investigation of the performance of CSM for a kinematic model of the PUMA manipulator with a flexible structure at the wrist which accounts for the gravitation. Trade-offs between camera view parameters and axial deflection model parameters were investigated. View parameter reestimatio

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Zhang, Guangyu, Yuqing He, Bo Dai, et al. "Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator." Applied Sciences 9, no. 11 (2019): 2230. http://dx.doi.org/10.3390/app9112230.

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An aerial manipulator is a new kind of flying robot system composed of a rotorcraft unmanned aerial vehicle (UAV) and a multi-link robotic arm. It gives the flying robot the capacity to complete manipulation tasks. Steady flight is essential for an aerial manipulator to complete manipulation tasks. This paper focuses on the steady flight control performance of the aerial manipulator. A separate control strategy is used in the aerial manipulator system, in which the UAV and the manipulator are controlled separately. In order to complete tasks in environments with strong wind disturbance, an acc

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Pietruś, Paulina, and Piotr Gierlak. "Influence of the Manipulator Configuration on Vibration Effects." Acta Mechanica et Automatica 17, no. 4 (2023): 515–22. http://dx.doi.org/10.2478/ama-2023-0060.

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Abstract Vibration analysis of industrial robots is one of the key issues in the context of robotisation of machining processes. Low-frequency vibrations result from flexibility in manipulator joints. Within the scope of the article, a model of a two-link robot manipulator was built. Dynamic equations of motion were formulated to study the influence of the robot arm configuration on vibration effects. Based on numerical simulations, the frequency spectrum of vibrations of the robot’s links was determined, and tests were carried out in a number of configurations, obtaining a map of resonant fre

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Miranda-Colorado, Roger, Luis T. Aguilar, and J. Moreno-Valenzuela. "A model-based velocity controller for chaotization of flexible joint robot manipulators." International Journal of Advanced Robotic Systems 15, no. 5 (2018): 172988141880252. http://dx.doi.org/10.1177/1729881418802528.

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This article presents a model-based velocity controller able to induce a chaotic motion on n-degrees of freedom flexible joint robot manipulators. The proposed controller allows the velocity link vector of a robot manipulator to track an arbitrary, chaotic reference vector field. A rigorous theoretical analysis based on Lyapunov’s theory is used to prove the asymptotic stability of the tracking error signals when using the proposed controller, which implies that a chaotic motion is induced to the robotic system. Experimental results are provided using a flexible joint robot manipulator of two

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Allgeuer, Helmut. "Control strategy for a redundant PUMA manipulator." Robotica 12, no. 4 (1994): 361–69. http://dx.doi.org/10.1017/s0263574700017380.

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SUMMARYIn this paper a control strategy for a redundant PUMA robot is presented. This robot is obtained from the conventional PUMA robot by addition of a joint parallel to the elbow joint. For redundancy resolution the following approach is chosen. From the position and pointing direction of the end effector of the PUMA robot the position and orientation of the fourth link of a 4R-manipulato? is calculated and the redundancy is resolved for this manipulator. This is done by adding an equation to the relationship between the joint angles and position and orientation of the fourth link. By this

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de Queiroz, M. S., S. Donepudi, T. Burg, and D. M. Dawson. "Model-based control of rigid-link flexible-joint robots: an experimental evaluation." Robotica 16, no. 1 (1998): 11–21. http://dx.doi.org/10.1017/s0263574798000113.

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In this paper, we present an experimental evaluation of several link position tracking control algorithms for rigid-link flexible-joint robot manipulators. To study the performance of the controllers, an IMI 2-link direct-drive planar robot manipulator was modified to approximate linear torsional spring couplings from the actuators to the links. Preliminary experimental results seem to indicate that reduced-order, model-based controllers with an actuator feedback loop provide relatively good link position tracking while a full-order, model-based controller offers some further improvement in li

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Feliu-Talegon, Daniel, José Ángel Acosta, Alejandro Suarez, and Anibal Ollero. "A Bio-Inspired Manipulator with Claw Prototype for Winged Aerial Robots: Benchmark for Design and Control." Applied Sciences 10, no. 18 (2020): 6516. http://dx.doi.org/10.3390/app10186516.

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Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. Although in robotics, there are some examples of flying robots with wings, it has not been yet a goal to add to them some manipulation-like capabilities, similar to ones that are exhibited on birds. The flying robot (ornithopter) that we propose improves the existent aerial manipulators based on multirotor platforms in terms of longer flight duration of missions and safety in proximity to humans. Moreover, the manipulation capabilities allows them to perch in inaccess

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Zhang, Jian Ye, Chen Zhao, and Da Wei Zhang. "Pose Accuracy Analysis of Robot Manipulators Based on Kinematics." Advanced Materials Research 201-203 (February 2011): 1867–72. http://dx.doi.org/10.4028/www.scientific.net/amr.201-203.1867.

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The pose accuracy of robot manipulators has long become a major issue to be considered in its advanced application. An efficient methodology to generate the end-effector position and orientation error model of robotic manipulator has been proposed based on the differential transformation matrix theory. According to this methodology, a linear error model that described the end-effector position and orientation errors due to robot kinematics parameters errors has been presented. A computer program to generate the error model and perform the accuracy analysis on any serial link manipulator has be

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Alwan, Hassan Mohammad, and Zaid Hikmat Rashid. "Dynamic Modeling of Three Links Robot Manipulator (Open Chain) with Spherical Wrist." Al-Nahrain Journal for Engineering Sciences 22, no. 1 (2019): 1–8. http://dx.doi.org/10.29194/njes.22010001.

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Dynamic modeling of a robot manipulator is a central problem in an accurate robot control. In this paper; the dynamic equations of motion were derived by using Eular-Lagrange method for a six degree of freedom articulated robot manipulator based on the geometrical jacobian construction for each link and actuator. In addition, friction effects beside the end effector forces that act the environment are considered. A Matlab Simulink plant is developed to embrace the theoretical work and simulate the dynamic response for a designed nonlinear controller Proportional Derivative plus Gravity (PD+G),

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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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Fujii, Hironori A., Kenji Uchiyama, and Tsugito Maruyama. "Performance Evaluation of Experimental Device for Space Robot." Journal of Robotics and Mechatronics 6, no. 5 (1994): 384–89. http://dx.doi.org/10.20965/jrm.1994.p0384.

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An experimental system simulating the dynamic behavior of a space manipulator is illustrated in this paper. It is constructed for the purpose of technological demonstration and performance evaluation of space robot. The system consists of a model of space robot having dual manipulators, suspension system, and control system. The model is hung by wire at each joint of the manipulator to cancel the effect of the gravitational force on the ground. The value of wire tension is maintained constant to provide a ground simulation of the dynamic behavior of the manipulator in space. Accelerometers are

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Naveen, S. K., Kumaar Devaraj Rajesh, and P. Pal Pandian. "Design and Fabrication of Flexible Three Link Manipulator for Pick and Place Application." Applied Mechanics and Materials 592-594 (July 2014): 2134–38. http://dx.doi.org/10.4028/www.scientific.net/amm.592-594.2134.

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Flexibility plays a key role in robot based applications, where the ability to perform complex tasks in semi structured or even unstructured environments is strategic.Most industrial robot operates inside a security fence which separates them from human workers, but not all. Flexibility, lightness in relation to the mass to be displaced and energy efficiency are acquiring increasing significance in automation. We can achieve higher performance in robots by optimizing the parameters like high-speed operation, lower energy consumption, lighter weight and safer operation. In this paper a pick and

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Dermawan, Dermawan, Hammada Abbas, Rafiuddin Syam, Zulkifli Djafar, and Abdul Kadir Muhammad. "DYNAMIC MODELING OF A SINGLE-LINK FLEXIBLE MANIPULATOR ROBOT WITH TRANSLATIONAL AND ROTATIONAL MOTIONS." IIUM Engineering Journal 21, no. 1 (2020): 228–39. http://dx.doi.org/10.31436/iiumej.v21i1.1254.

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The flexible manipulator is widely used in space robots, robot arm, and manufacturing industries that produce micro-scale products. This study aims to formulate the equation of motion of a flexible single-link manipulator system that moves translationally and rotationally and to develop computational codes with finite element methods in performing dynamic simulation on the vibration of the flexible manipulator system. The system of the single-link flexible manipulator (SLFM) consists of the aluminum beam as a flexible link, clamp part to hold the link, DC motor to rotate drive shaft, a traject

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korayem, M. H., and A. Basu. "Formulation and numerical solution of elastic robot dynamic motion with maximum load carrying capacities." Robotica 12, no. 3 (1994): 253–61. http://dx.doi.org/10.1017/s0263574700017227.

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SUMMARYThis paper presents a new formulation as well as numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators. For rigid manipulators, the major limiting factor in determining the maximum allowable load (mass and mass moment of inertia) is the joint actuator capacity, while the flexibility exhibited by light weight robots or by robots operating at a higher speed dictates the need for an additional constraint to be imposed for situations where precision tracking is required, that is, the allowable deformation at

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Arteaga, Marco A. "On the Properties of a Dynamic Model of Flexible Robot Manipulators." Journal of Dynamic Systems, Measurement, and Control 120, no. 1 (1998): 8–14. http://dx.doi.org/10.1115/1.2801326.

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Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

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Eissa, Aly M., Mohamed Fawzy El-Khatib, and Mohamed I. Abu El-Sebah. "Dynamics Analysis and Control of a Two-Link Manipulator." WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL 18 (December 31, 2023): 487–97. http://dx.doi.org/10.37394/23203.2023.18.52.

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This article develops a practicable, efficient, and robust PID controller for the traditional double pendulum system. Utilizing the Lagrangian method, the equations of motion for the two-link robot manipulator are initially derived. The system of ordinary differential equations for this nonlinearity describes these equations. As closed-form solutions for the equations of motion are absent, we approximate the solution of the initial-value problem. Securing precise user-defined positions while controlling the motion of the two-link robot manipulator proves to be a formidable challenge due to its

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Özkan, Bülent. "Guidance and control of a planar robot manipulator used in an assembly line." Transactions of the Institute of Measurement and Control 40, no. 2 (2016): 389–99. http://dx.doi.org/10.1177/0142331216657800.

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Robot manipulators have been successfully utilized in assembly lines within the last few decades. In order to increase productivity and diminish costs, they have been enrolled at several stages of automation, including transportation, welding, mounting and quality control processes of the components that are assembled to construct the entire system. In this study, an unusual method is proposed to make the robot manipulators and moving belts serve accordingly in an efficient manner. To this extent, the motion of a two-link robot manipulator is planned in a continuous fashion by the use of a pro

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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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