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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 for use in future design and control applications of flexible manipulators.
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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 industry. Instead of a traditional industrial robot, a multi -link manipulator robot can be a good intermediate solution. It is more maneuverable, flexible, and has more complex movements for working on serial production. Multi-link robots provide a quick replacement of skilled labor in case of a shortage of employees or when production needs to be accelerated. As with any revolutionary technology, it is necessary to be critical of its implementation. The most decisive advantage of a robot over a single-link industrial robot is flexibility. Especially since the production environment needs to be able to adapt to handle the work with small volumes and a large number of different tasks. Such robots are more mobile and take up less space than traditional industrial robots. They are easier to reprogram to perform different jobs or product variants. However, it is worth noting that programming a traditional robot, which in its specialized environment requires deep knowledge and endless settings. When using a robot, the entry barrier for operators is significantly reduced, while deployment and ROI are accelerated. The aim of the work is to determine how the project context affects the choice of motion techniques and to determine the dependencies between requirements discovery methods. The article solves the following tasks: to study the trajectory of robots and compare mathematical control methods. Requirements in industry, create and draw a parallel regarding the practice of using demonstration robots and requirements in real conditions of using multi-link structures, determine the preferences of practitioners regarding detection methods and determine how the project context affects the choice of requirements detection techniques, determine dependencies between requirements detection methods. The task using such a method as a parametric form of the task is to prove that: the mathematical model of motion trajectories is the most reliable. Development and improvement of kinematic movements of manipulators with synergy of movements between manipulators. The following results were obtained: The best detection methods were identified and compared with other comprehensive studies. Conclusion: It was concluded that the choice of the shape of the wave-like trajectory of the movement; a traveling wave in a coordinate system moving along this sine wave form should be used as a control program for an automatic drive system. The assignment of a form in the form of a sine wave appears unsuitable for this task, because the obvious disadvantage of the sine wave is a continuous change in curvature and greater curvature at the peaks at large amplitudes.
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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 manipulator in the process of debugging the control program. Therefore, this work aimed at calculating coordinates for programming the control system of a two-link manipulator operating in an angular coordinate system and moving the end-effector along a complex trajectory (e. g., when welding car bodies). Materials and Methods. A two-link robot manipulator designed for cyclically repeating actions in an angular coordinate system was considered. The manipulator consisted of two rotating links: “arm” and “elbow”, which were fixed on the base. The base could rotate, which provided a third degree of freedom. This configuration increased the working area of the manipulator and minimized the area for its placement in production. The movement of the manipulator end-effector could be performed if the kinematics provided its positioning along three Cartesian and three angular coordinates. For software control of robots, including welding robots operating in an angular coordinate system and performing the movement of the end-effector along a complex trajectory, it was required to calculate the angular coordinates of the movement of the end-effector of a two-link articulated manipulator. The robot control system should determine the position of the tool in the angular coordinate system, converting it for user friendliness into x, y and z coordinates of the Cartesian coordinate system. Results. The relations of angular and Cartesian coordinates have been obtained. They can be used for calculating when programming the control system of a two-link manipulator of an industrial robot and organizing the exchange of information between the user and the control system, as well as for checking the accuracy and debugging the movement of the end-effector of an industrial robot through feedback. Discussion and Conclusion. The presented results can be used for software control of a welding robot operating in an angular coordinate system and performing a complex trajectory of the end-effector of a two-link articulated manipulator (gripper). A manipulator operating in an angular coordinate system can be used for contact spot welding when moving the end-effector along a complex trajectory using a positioning or contouring control system. These systems control the movement of the end-effector along a given trajectory with the help of technological commands.
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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 the superiority of the proposed control law.
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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 results reveal the effectiveness of both proposed innovative numerical solution technique and control structure for online object manipulation purposes using flexible manipulators. Originality/value – The object manipulation problem has previously been studied, however, for the first time its accomplishment by flexible link manipulators was addressed just in offline form considering an open-loop control structure (Tarvirdizadeh and Yousefi-Koma, 2012). As an extension of Tarvirdizadeh and Yousefi-Koma (2012), the current research, consequently, focusses on a numerical solution and a CL approach for performing DOM by a flexible link manipulator.
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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 manipulation configuration. Alternatively, micro-actuators may be integrated into the structure of the links to vary their kinematics parameters, such as their lengths during the motion. In this paper, the kinematics and dynamics consequences of each of the aforementioned alternative are studied for manipulators with serial and closed-loop chains. It is shown that for robot manipulators constructed with closed-loop chains, the high harmonic components of all joint motions can be eliminated only when micro-actuators are integrated into the structure of the closed-loop chain links. The latter configuration is also shown to have dynamics advantage over micro- and macro-manipulator configuration by reducing the potential vibration and control problems at high operating speeds. The conclusions reached in this study also apply to closed-loop chains of parallel and cooperating robot manipulators.
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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(n), where n is the number of degrees-of-freedom of the robot manipulator.
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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 by analytically formulating, the avoidance manipulability ellipsoid and the avoidance manipulability shape index of a mobile manipulator. We then evaluate the avoidance manipulability shape index representing shape changeability for the entire manipulator’s configuration using a mobile manipulator with a three-link arm as an example.
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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 controllability matrix and the closed-loop behavior. A 2-link 3-joint prototype flexible manipulator is used for a case study, and the uncontrollable configurations of the manipulator are found.
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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 control of robot manipulator to get the desired position using combination of two classical methods PID and computed torque control method after deriving the equation of motion. For the same simulation is represented using MATLAB and compared with computed torque control method.</p>
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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 methodology involves mathematical modelling of the two-link robot arm dynamics, and the use of an optimization algorithm to determine the optimal MPID controller coefficients. Simulation results demonstrate performance enhancement and productivity of the two-link robot arm through the improved MPID controller.
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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 the payload and length link ratio have significant influences on the elastic displacements of the system. In particular, a proper spectrum of the link length ratio, in which the flexural displacement of the end point of the manipulator is smallest, is demonstrated. To this end, the proposed methodology could be used further to select optimal geometric parameters for the links of new robot designs.
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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 a working element along a turning radius with precise positioning at a given point in the working space. Electromechanical design of the manipulator allows to ensure transportation of production objects in accordance with a given technological process. For designing the technological process of transporting production objects, a software module has been developed that makes it possible to automate description of basic operations for movement of the robot manipulator working body with subsequent automatic generation of a command sequence for a control program ensuring operation of electric drives in manipulator links in real time. To speed up the process of designing trajectory of the working body, a spatial simulation model of a robot-manipulator in the MatLab-Simulink environment has been developed. The paper considers a generalized diagram of a mechatronic control system for a robot-manipulator based on the OMRON programmable logic controller operating under control of a program developed in the programming environment Sysmac Studio Automation. A program for a programmable terminal with interface elements and animation elements has been developed for industrial use of the mechatronic system during adjustment and operation period. The paper provides an appearance of a robot-manipulator prototype. The developed mechatronic system of the robot-manipulator can be technologically oriented towards solving other problems of industrial production.
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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 are also discussed.
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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. The optimization processfocuses on minimization of robot weight as an objective function, the guess values has taken from three links manipulator and the industrial robot as four links serial manipulator. The results of optimization has been plotted and represented through the different relations between the design parameters (Link radius, length and total robot deflection, total robot weight, stress…etc). The results shows a good agreement minimizing the total deflection to(2x10-5 m) with this degree of precision an optimum design features may be obtained that gives a robot structure with high stiffness and minimum weight that enables the robot to do its tasks with minimum inertia effect.
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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 effector in Cartesian coordinate system. It is found, that the working space of the manipulator consists of the two one-parameter families of circles. One of these families consists of concentric circles, while the other is eccentric. In both cases the boundaries of the families are two concentric circles, and the radius of one of them is equal to the difference of the lengths of the elements of the manipulator kinematic mechanism, and the radius of the second circle is equal to the sum of these lengths. Then the workspace is a set of points of two disks (two “clouds”). The geometric image of these sets is a two-dimensional torus. The conducted studies of two families of circles on the plane made it possible to put them in correspondence with 3D models of two surfaces. On the graphs of these surfaces one can get not only the coordinates of the manipulator end-effector or the values of the generalized parameters corresponding to them. The resulting surfaces simulate the working space of the manipulator, and also solve the inverse problem of kinematics. Such surfaces make it possible to study both the parameters of the mechanism and the trajectories of the end-effector movement. The results are important for planning motions in the workspace and configuration space, as well as for the design and kinematic analysis of robots.
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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 noises. Comparative simulation results based on a five-link robot manipulator and a PUMA560 robot manipulator are presented to further validate the effectiveness and superiority of the proposed P-type RMPC scheme over the previous one.
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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 Jacobian of cases of underdetermined and overdetermined of joint-controlled variables.
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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 bumping velocity which minimizes the error between a desired steady state force and an impact force, and apply this method to a 2-link manipulator. Next, the relationship between the optimal bumping velocity and the momentum is considered in terms of energy ellipsoid. Further, we examine the optimal bumping velocity when time delay of contact detection exists. Lastly, simulation results of bumping by the 2-link manipulator are shown.
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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 compared quantitatively and qualitatively with an NN, where both the intrinsic joint position and the torque sensors of the manipulator are used. The proposed method is evaluated experimentally with the KUKA LWR manipulator, which is considered as an example of the collaborative robots, using two of its joints in a planar horizontal motion. The results illustrate that the developed system is efficient and fast to detect the collisions and identify the collided link.
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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 paper, the fitness function in GA is proposed. The sinwave and circular for three link robot end effecter and desired trajectories are simulated by MATLAB program. Joint angles and end effecter positions of robot results values of circular trajectory are better than joint angles end effecter positions of robot results values of NN work in another paper. Three link redundant robot workspace is also simulated. The outputs results of best three joint angles are evaluated for two trajectories sinwave and circular, with 50 generations the algorithm is fast. This paper presents the simulations results that are obtained based on MATLAB R2010b program.
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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 paper, the fitness function in GA is proposed. The sinwave and circular for three link robot end effecter and desired trajectories are simulated by MATLAB program. Joint angles and end effecter positions of robot results values of circular trajectory are better than joint angles end effecter positions of robot results values of NN work in another paper. Three link redundant robot workspace is also simulated. The outputs results of best three joint angles are evaluated for two trajectories sinwave and circular, with 50 generations the algorithm is fast. This paper presents the simulations results that are obtained based on MATLAB R2010b program.
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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 this ellipsis.In addition to this, a collision avoidance method is presented which allows the use of redundant degrees of freedom such that a manipulator can avoid obstacles while tracking the desired end-effector trajectory. The method is based on the generalized inverse with boundary ellipse functions as optimization criteria. The method permits the tip of the hand to approach any arbitrary point in the free space while the kinematic control algorithm maximizes the boundary ellipse function of the critical link. The effectiveness of the proposed methods is discussed by theoretical considerations and illustrated by simulations of the motion of three- and four-link planar manipulators between obstacles.
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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 inverse kinematics. The control design procedure is based on a new form of universal approximation theory and using Stone–Weierstrass theorem, to mitigate structured and unstructured uncertainties associated with external disturbances and actuated manipulator dynamics. It has been assumed that the lumped uncertainty can be modeled by linear differential equations. As the method is Model-Free, a broad range of manipulators can be controlled. Numerical case studies are developed for an industrial robot manipulator.
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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 tendon-driven continuum robots (TDCRs) and multi-link backbone TDCRs, thereby providing a structured set of guidelines for fabricating continuum robots for aerial manipulation. With a history spanning over three decades, dominated by medical applications, CRs are now increasingly being used in other domains like industrial machinery and system inspection, also gaining popularity in aerial manipulation. Fuelled by diverse applications and their associated challenges, researchers have proposed a plethora of design solutions, primarily falling within the realms of concentric tube (CT) designs or tendon-driven designs. Leveraging research works published in the past decade, we place emphasis on the preparation of backbones, support structures, tendons, stiffness control, test procedures, and error considerations. We also present our perspectives and recommendations addressing essential design and fabrication aspects of TDCRs in the context of aerial manipulation, and provide valuable guidance for future research and development endeavours in this dynamic field.
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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 further to study a manipulator with flexible links where nonlinear rigid-link dynamics are coupled with dominant assumed modes for cantilever and pinned-pinned beams. A time delay in the feedback control loop represents elastic wave travel time along the links to generate non-minimum phase response. A time delay acting on control commands ameliorates non-minimum phase response. Finally, a fuzzy logic system outputs a variable to adapt the control law in response to elastic deformation inputs. Results show greater endpoint position control accuracy using a flexible inverse dynamics robot model combined with a fuzzy logic adapted control law and time delays than could be obtained for the rigid dynamics models.
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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 after changing the desired motion or load of the manipulator. In motion control law, the proposed controller uses only one vector to estimate the unknown dynamical parameters. It makes the proposed controller as a simpler hybrid adaptive and learning controller which does not need much computational power and also is easily be implemented for real applications of robot manipulators. The proposed controller is verified through experiments on a four-link small robot manipulator as representation of a scale robot manipulator to ensure this controller can be applied in the real applications of robot manipulators. The experimental results show the effectiveness of the proposed controller by indicating the position tracking error approaches to zero.
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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 this work is to present an efficient procedure for computer generation of dynamic equations for a Stewart platform manipulator. As MATLAB has a powerful signal processing toolbox along with symbolic processing capabilities and is widely used as a common technical computing environment in many universities and research laboratories, the objective of this study was to develop a MATLAB-based approach for symbolic computation for a parallel linked robot. Additionally, a computed-torque control methodology is utilized for such a structure. Simulation results demonstrate the effectiveness of the proposed control methodology.
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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 design 3D components and assembly using Autodesk Inventor application based on FEM (Finite Element Method). Will also make a tool in the form of a robot gripper which will later be tested for feasibility. Based on the calculating result, the minimum thickness of the most significant link is 5.1 mm. To make it easier to find plates and save costs, the thickness of all plates in each link is rounded up to 6 mm. From the result of the movement simulation, it is found that the gripper can move open, clamp and rotate, and from the FEM software result the Safety factor value = 3.58 >3.0. Meanwhile, based on the result of the feasibility test, the gripper robot manipulator is feasible.
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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 the operability of the proposed algorithms and conclusions about the prospects for the development of this approach are presented.
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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 reestimation and maneuvering resulted a very accurate placement of the end-effector at the target.
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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 acceleration feedback enhanced robust H∞ controller was designed for the UAV in the aerial manipulator. The controller is based on the hierarchical inner-outer loop control structure of the UAV and composed of a robust H∞ controller and acceleration feedback enhanced term, which is used to compensate for the wind disturbance. Experimental results of aerial grasping of a target object show that the controller can suppress the wind disturbance effectively, and make the aerial manipulator hover steadily with sufficient accuracy to complete aerial manipulation tasks in strong wind.
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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 frequencies depending on the configuration of the manipulator. Experimental studies were then carried out, which confirmed the conclusions from the simulation studies. The results obtained confirm that the positioning of the manipulator’s links has a significant effect on vibration effects. Tests conducted using a vision system with a motion amplification application made it easier to interpret the results. The formulated mathematical model of the manipulator generates results that coincide with the results of experimental studies.
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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 degrees of freedom. Finally, by using Poincaré maps and Lyapunov exponents, it is shown that the behavior exhibited by the robot joint positions is chaotic.
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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 approach a control strategy is derived that allows motions of the end effector of the PUMA robot in a large part of its work space and shows repeatable behaviour. Furthermore, the redundancy is utilized so that the fiexture of the wrist is kept small.
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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 link position tracking at the expense of increased computation.
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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 inaccessible places and perform some tasks with the body perched. This work presents a first prototype of lightweight manipulator to be mounted to an ornithopter and a new control methodology to balance them while they are perched and following a desired path with the end effector imitating their beaks. This allows for several possible applications, such as contact inspection following a path with an ultrasonic sensor mounted in the end effector. The manipulator prototype imitates birds with two-link legs and a body link with an actuated limb, where the links are all active except for the first passive one with a grabbing mechanism in its base, imitating a claw. Unlike standard manipulators, the lightweight requirement limits the frame size and makes it necessary to use micro motors. Successful experimental results with this prototype are reported.
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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 been developed in MATLAB. This methodology and software are applied to the accuracy analysis of a Phantom Desktop manipulator. The positioning error of the manipulator in its workspace cross section (XOZ) has been plotted as 3D surface graph and discussed.
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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), also a modified controller is applied to reject the disturbances and the internal friction effect where the settling errors were 3.57E-6, 2.09E-7, -3.63E-6, 8.84E-6, -5.39E-8 and -4.39E-5 (deg) for joints one to six respectively. The presented approach can be applicable to solve the dynamic problem of other n-link robot manipulators and achieve a suitable solution for tracking trajectories.
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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 employed to evaluate the micro-gravity condition for the present experimental device. The dynamics of the twolink manipulator with rigid link is analyzed numerically and experimentally, employing the present facility through the inspection of their dynamic features. In the present paper, the motion of the manipulator is restricted in the vertical plane as the first stage of study. The motion of a free-flying robot is also simulated in the experiment. The results of the numerical simulation and ,the experiment are presented to show the sufficient capability of the ground simulation to study dynamcal behavior of the manipulator in space.
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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 techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.
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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 place robot is designed and developed to achieve effective automation with higher safety and with greater ease. The main objectives of designing this flexible manipulator are to reduce its mass and to minimize its vibrations in the end-effector, which enhances good accuracy in positioning.This can be achieved by bringing down the number of working components and jointswhich reduce various losses. The greater mass can be transferred from one place to another place with relatively lesser mass of flexible three link manipulator. The various problems were encountered and rectified during the design and fabrication of flexible three link manipulator for pick and place application.
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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 trajectory to transfer link in translational motion, and servo motor to rotate link. Computational codes in time history response (THR) and Fast Fourier Transform (FFT) processing were developed to identify the dynamic behavior of the link. The finite element-method and Newmark-beta are used in simulating the SLFM. Simulation using the finite element method has displayed dynamic behavior through a graph of FFT on free vibration and THR graph on forced vibration by the excitation force due to the translational and rotational motions of the system. In the simulation of free vibration, the natural frequency of the system is 8.3 [Hz].
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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 the end effector. The Lagrangian assumed mode method was used to model the manipulator and load dynamics, including both joint and deflection motions. An Iterative Linear Programming (ILP) method is then used to determine the maximum allowable load of elastic robot subject to both constraints, while a general computational procedure for the multiple-link case given arbitrary trajectories is presented in detail. Symbolic derivation and simulation by using a PC-based symbolic language MATHEMATICA® was carried out for a two-link planer robot and the results further confirm the necessity of the dual constraints.Rough joint flexibility is the dominant source of compliance in today's commercial robots in future robots containing light weight flexible arms link flexibility may become most important. Hence this paper stresses link flexibility rather than joint flexibility.
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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 non-linear behavior. The primary objective is to achieve the intended position of the robot manipulator by implementing the computed torque control method. Once the equation of motion has been derived, MATLAB is utilized to represent the control simulation. Several computational simulations are employed to validate the controller performance. Specifically, we implement a PID controller to simulate the balancing of the two links on a mobile robot at any given angle, including inverted.
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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 proper guidance law compatible with the uninterrupted movement of the moving belt upon which the components are placed by means of the manipulator. For this purpose, a control system is built for the manipulator based on its dynamic modelling by regarding the PI (proportional plus integral) control law in accordance with the linear homing guidance law. Moreover, engagement geometry is constructed. Having performed computer simulations, it is observed that the tip point of the manipulator can catch the slot on the belt at speeds from 0.5 to 2.5 m/s for different initial positions and speeds of the tip point from 5.0×10−5 to 0.5 m/s.
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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 impedance for the end point of the robot in the Cartesian space. The same controller is used when the robot is free (unconstrained) and when it interacts with an environment. Also, the input to the system, in both unconstrained and constrained motions, is the end point position and its derivatives. When in free motion, the robot will track the desired end-point position, but while in constrained motion, the desired end point position is used to obtain a desired force according to the specified impedance. An experimental two-link flexible joint robot manipulator, constrained by a straight wall, is used to evaluate the impedance control algorithm.