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1
Mu, Hui Jin. "Study on Variable Structure Vibration Control for Flexible Manipulator." Advanced Materials Research 875-877 (February 2014): 1961–66. http://dx.doi.org/10.4028/www.scientific.net/amr.875-877.1961.
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In recent years, modeling and control of flexible space robots are extensively researched. Compared with traditional rigid robots, flexible robots have low energy consumption, wide operating space, high carrying capacity and other characteristics. However, due to its special structure, the robot arm will get deformation and vibration in motion, which brings a lot of problems to the positioning and tracking control of flexible space robots. Therefore, directing at the dynamics modeling and control issues of the free-floating flexible dual-arm space robots, this article carries out in-depth study. This paper first studies the elastic deformation and vibration of the flexible space manipulator and the robust control problem of the system trajectory tracking for free-floating flexible dual-arm space robots.
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Liu, Yue, Guo Hua Gao, Hao Wang, Ya Nan Qin, and Mei Juan Lian. "Innovative Design and Simulation of a Four-Wire Flexible Manipulator." Advanced Materials Research 971-973 (June 2014): 544–47. http://dx.doi.org/10.4028/www.scientific.net/amr.971-973.544.
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With the progress of science and technology, people's desire to improve the work efficiency became stronger and stronger. The demand for applied robots is sharply growing. Compared with the traditional rigid robot, the flexible mechanical structure has the advantages of compact and maneuverable. Thusly, this paper follows the direction of low-cost flexible structure, came up with a four-wire flexible manipulator and completed the prototyping research. This manipulator consists of flexible picking paw, flexible picking arm and control system three mainly parts, can be used in various fields.
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Fuchiwaki, Ohmi, and Hisayuki Aoyama. "Micromanipulation by Miniature Robots in a SEM Vacuum Chamber." Journal of Robotics and Mechatronics 14, no. 3 (June 20, 2002): 221–26. http://dx.doi.org/10.20965/jrm.2002.p0221.
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In this paper, we describe flexible micromanipulation organized by insect size robots in scanning electron microscopy. Small robots composed of piezo elements and electromagnets move in the SEM chamber with submicron resolution. They manipulate small objects in cooperation with each other. As a basic operation, one small robot, which has a sliding microtable transports samples at the SEM focus point precisely and this sliding table can be also positioned by the other small robot's manipulation. This two-robot cooperation provides x-y accurate positioning at any location within the chamber. On the sample table, a small robot with a micromanipulator handles small objects for picking up and putting down. The operator controls each robot easily with real-time monitoring of SEM images. This cooperation of small robots in SEM provides flexible, accurate microprocessing performance with low cost.
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Nakamura, Taro, Yuki Akamatsu, and Yuta Kusaka. "Development of Soft Manipulator with Variable Rheological Joints and Pneumatic Sensor for Collision with Environment." Journal of Robotics and Mechatronics 20, no. 4 (August 20, 2008): 634–40. http://dx.doi.org/10.20965/jrm.2008.p0634.
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Recently, as robots and humans have increasingly come to share common space, especially in the fields of medical and home automation, it has become necessary to consider the frequent physical collision of robots and environments (e.g. humans). However, many robot joints employ actuators with high-ratio gear trains, and therefore, when this type of robot comes into contact with a human, physical pain may be caused. This study deals with the development of a manipulator using a smart flexible joint employing ER fluid and a pneumatic cushion that has a sensor function. In addition, position control and collision experiments were performed with the developed manipulator. The experimental results demonstrate the effectiveness of the manipulator.
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Xiong, Gen Liang, Hai Chu Chen, Rui Hua Zhang, and Fa Yun Liang. "Control of Human-Robot Interaction Flexible Joint Lightweight Manipulator Based Joint Torque Sensors." Advanced Materials Research 403-408 (November 2011): 5022–29. http://dx.doi.org/10.4028/www.scientific.net/amr.403-408.5022.
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Recently, flexible joint lightweight robots are widely used in a variety of mobile robots or mechanical platforms, playing a more and more important role in the areas of space exploration, military reconnaissance, counter-terrorism, defusing, as well as home service. From the viewpoint of lightweight robot applications, there exist many different tasks under changing working conditions, either working in dangerous and unknown complex environment or closely contacting with human beings. Therefore, for a safe operation and high reliability, lightweight robots need not only high-precision position control but also compliance control, such that no injury on the robot and operated object will occur when interacting with the unknown environments. In order to make the manipulator contacts the environment compliantly, and reduces the instantaneous impact when collision occurs. This paper presented an interaction impedance control strategy for manipulator based on joint torque sensor, and combined with the trajectory regeneration with force feedback. Experiment was performed on a 5-DOF flexible joint lightweight manipulator. The experiment results of tapping on an egg showed the manipulator contacts the object compliantly and reduces collision impact, so the proposed approach was effectiveness and validity.
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Zhou, Xue Feng, Li Jiang, Chuan Wu Cai, and Hai Fei Zhu. "RMRS: A Reconfigurable Modular Robot System and its Applications." Advanced Materials Research 569 (September 2012): 466–71. http://dx.doi.org/10.4028/www.scientific.net/amr.569.466.
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Modules have been widely used in development of various robots including reconfigurable robots. To build robots flexibly and quickly with low costs, we have developed two basic joint modules and several functional modules including grippers, suckers and wheels/feet as end-effectors. In this paper, we introduce the development of these modules, and present several novel robots built using them. Specifically, we show how to use them to set up a manipulator, a 6-DoF biped walking robot, a wheeled mobile robot, a biped tree-climbing robot, and a biped wall-climbing robot. It has been shown that a few modules can easily spawn a variety of novel robots with modular methodology.
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Sekiguchi, Yuta, Yo Kobayashi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, et al. "Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery." Journal of Robotics and Mechatronics 23, no. 6 (December 20, 2011): 1115–24. http://dx.doi.org/10.20965/jrm.2011.p1115.
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Recently, a robotic system was developed to assist in Single-Port Endoscopic Surgery (SPS). However, the existing system required a manual operation of vision and viewpoint, hindering the surgical task. We proposed a surgical endoscopic robot for SPS with a dynamic vision control, the endoscopic view being manipulated by a master controller. The prototype robot consists of a manipulator for vision control, and dual tool tissue manipulators (gripping: five DOFs; cautery: three DOFs) can be attached at the tip of the sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 mm and a time delay of less than 31 ms, when the input frequency is 1.0 Hz.
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Du, Yanfeng, and Cong Wang. "Dynamic Coupling and Control of Flexible Space Robots." International Journal of Structural Stability and Dynamics 20, no. 09 (August 2020): 2050103. http://dx.doi.org/10.1142/s0219455420501035.
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The dynamic modeling and coupling effect of a space robot are complex when the flexible manipulator and solar panels are considered. This paper investigates the dynamic coupling effect and control of a flexible space robot with flexible manipulators and flexible panels. The equations of motion are derived for the robot model both of the rigid-flexible type and flexible-flexible type. The flexible space robot dynamic model is verified by comparison with the results generated by the ADAMS software, for which good agreement has been obtained. The dynamic coupling matrix of the flexible space robot is derived based on the dynamic model. The effects of the central rigid body mass and the joints angle on the dynamic coupling are analyzed. A control method is proposed to manipulate the flexible space robot based on the system dynamic model. The multiple-impulse robust (MIR) input shaper is used to suppress the vibration of flexible structures in the proposed controller. Appropriate design parameter and frequency scaling factor are selected for the MIR input shaper to suppress the flexible vibration. The flexible space robot control is conducted to illustrate the effect of the proposed controller. It is shown that the proposed control method can realize the desired joints manipulation, while suppressing the vibration of the flexible manipulators and flexible panels.
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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 (January 1, 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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Kanarachos, A., M. Sfantsikopoulos, and P. Vionis. "A Splines–Based Control Method for Robot Manipulators." Robotica 7, no. 3 (July 1989): 213–21. http://dx.doi.org/10.1017/s026357470000607x.
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SUMMARYIn this paper, a new splines–based control method for robot manipulators is presented and discussed. The above method can be effectively used for path planning and control of rigid and flexible robots. The computational simplicity of the proposed algorithm, together with its flexibility and its high–level intelligence built in, can be considered as promising tools for achieving the goals of modem robot manipulator design.
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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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Ito, Kazuyuki, Ryushi Aoyagi, and Yoshihiro Homma. "TAOYAKA-III: A Six-Legged Robot Capable of Climbing Various Columnar Objects." Journal of Robotics and Mechatronics 31, no. 1 (February 20, 2019): 78–87. http://dx.doi.org/10.20965/jrm.2019.p0078.
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Inspection and maintenance of large industrial plants are important tasks expected of robots. Furthermore, it is expected that an autonomous robot will be able to climb various arbitrary columnar objects, such as pipes, pillars, and trees. These tasks would be very difficult for conventional robots, because most must first assess the shape of the object and control many bodily degrees of freedom in order to climb. In our previous work, we developed a flexible manipulator, inspired by an octopus, which could grasp various objects without sensors or controls. Its flexible body passively adapted to differences in the objects’ features. In this research, we apply that mechanism to a six-legged climbing robot, which can climb arbitrary columnar objects without first sensing their shapes.
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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 (June 1, 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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Zaki, Ahmed S., and W. H. ElMaraghy. "EXPERIMENTS ON THE MODELLING AND VIBRATION CONTROL OF A THREE-DEGREE OF FREEDOM MANIPULATOR WITH FLEXIBLE LINKS." Transactions of the Canadian Society for Mechanical Engineering 18, no. 1 (March 1994): 47–64. http://dx.doi.org/10.1139/tcsme-1994-0004.
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Industrial robots have lumped flexibility due to the drive mechanism and distributed flexibility due to the elasticity of the arm. By developing an accurate model for the robot dynamics, advanced control strategies can be formulated to improve the tracking performance and reduce the residual vibration of the robot end-point. In this paper, a flexible two-link, three-degree of freedom manipulator is treated. Based on experimental modal analysis results, a reduced order model for the robot is derived using Lagrangian dynamics. The links flexibility was included by superimposing the flexible motion over the rigid body motion using the finite-element approach. Based on this model, two controllers are designed and implemented on the robot. The first is a gain-scheduling regulator, while the second is based on the model reference approach. Experimental results show the ability of these controllers to damp the end-point vibration.
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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 (September 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.
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LIU, YANHUI, GUOQING ZHU, ZHENGQIN LIU, XINYI HU, and RUITAO JIANG. "Tactile design of manipulator fingers based on fingertip/textilefriction-induced vibration stimulations." Industria Textila 71, no. 01 (February 27, 2020): 28–32. http://dx.doi.org/10.35530/it.071.01.1354.
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Textile-like soft and flexible products are widely used in our daily life. Understanding the relationship between the tactilesensations of textiles and the tactile stimuli is essential for developing humanoid robot’s finger haptic system, especiallyfor certain kind of robot systems such as service robots and exploratory robots. This paper built a frequency space thatcan qualitatively represent a roughness sensation of textiles by a developing independently random match algorithm incombination with neurophysiological features of cutaneous mechanoreceptors. The experimental results show that thesum of amplitude in frequency range between 18 and 118 Hz can effectively describe the roughness sensory of textilewith accuracies of 98.5%. In other words, by applying the sum of amplitude in frequency range between 18 and 118 Hzcould successfully match roughness sensation of textiles, and it will help engineer of humanoid robot design manipulatorfinger haptic system in textile field.
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Pană, Cristina, Cristian Vladu, Daniela Pătraşcu-Pană, Florina Besnea (Petcu), Çtefan Cismaru, Andrei Trăşculescu, Ionuţ Reşceanu, and Nicu Bîzdoacă. "Position control for hybrid infinite-continuous hyper-redundant robot." MATEC Web of Conferences 343 (2021): 08009. http://dx.doi.org/10.1051/matecconf/202134308009.
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This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infinite hybrid structure (HHRIC), based on hydraulic control with a rheological element. This system combines the advantage of a joint-level drive with a lightweight construction similar to the base-driven robots. It is suitable for tasks such as wiring in hard-toreach areas (caves, subaccounts, steep areas), transportation of fluids or food to areas affected by natural disasters (people buried under ruins), exploration in difficult areas (speleological research). Generally, the control algorithms for hyper-redundant robots are specific to the robots’ constructive particularities to which they have applied and the environment in which they operate. Experimental results validate the proposal robot design and control strategies in virtual reality. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an essential role soon in automated and teleoperation applications.
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Slota, Adam, and Krzysztof Krupa. "Simulation Model of Coordination Robot Trajectories with Load Sharing – 1D Case." Applied Mechanics and Materials 808 (November 2015): 327–32. http://dx.doi.org/10.4028/www.scientific.net/amm.808.327.
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Coordination of robots’ motion is required when two robots are to execute a single task. Presented algorithm of coordination robot trajectories is based on composition of two motions: a programmed one and a corrective one. In the former version of the algorithm programmed motion is a simple straight line motion to a fixed final position or may be defined as a set of Bezier curve segments. Corrective motion aims at keeping a constant relative distance between robots’ TCPs. Proposed modification of the algorithm takes into account distribution of load, caused by the weight of the manipulated part, between robots. For the clarity one dimensional case is considered with the gravity force along the direction of robots’ TCPs motion. To calculate force interaction between manipulated part and robots’ TCP a flexible connection with a defined stiffness is assumed. The algorithm is implemented as a simulation model and simulation results are presented.
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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 (January 20, 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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Vossoughi, G. R., and A. Karimzadeh. "Impedance control of a two degree-of-freedom planar flexible link manipulator using singular perturbation theory." Robotica 24, no. 2 (November 17, 2005): 221–28. http://dx.doi.org/10.1017/s0263574705002055.
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In this article, impedance control of a two link flexible link manipulators is addressed. The concept of impedance control of flexible link robots is rather new and is being addressed for the first time by the authors. Impedance Control provides a universal approach to the control of flexible robots, in both constrained and unconstrained maneuvers. The initial part of the paper concerns the use of Hamilton's principle to derive the mathematical equations governing the dynamics of joint angles, vibration of the flexible links and the constraining forces. The approximate elastic deformations are then derived by means of the Assumed-Mode-Method (AMM). Using the singular perturbation method, the dynamic of the manipulator is decomposed into fast and slow subsystems. The slow dynamic corresponds to the rigid manipulator and the fast dynamic is due to vibrations of flexible links. The sliding mode control (SMC) theory has been used as the means to achieve the 2nd order target impedance for the slow dynamics. A controller based on state feedback is also designed to stabilize the fast dynamics. The composite controller is constructed by using the slow and fast controllers. Simulation results for a 2-DOF robot in which only the 2nd link is flexible confirm that the controller performs remarkably well under various simulation conditions.
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Takemura, Fumiaki, Reyes Tatsuru Shiroku, Kuniaki Kawabata, and Shinichi Sagara. "Development of Easy-Removable Underwater Manipulator Unit with Built-in Controller." Journal of Robotics and Mechatronics 25, no. 5 (October 20, 2013): 778–84. http://dx.doi.org/10.20965/jrm.2013.p0778.
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In recent years, coral cover has been decreased by the impact of bleaching due to high water temperature, red-soil runoff, water pollution, and coral-eating starfish outbreak. It is necessary to appropriately measure, observe, and sample seawater. To succeed in these tasks, underwater robots should have a function of responds flexibly in solving problems. Underwater tasks are summarized as follows: (1) acquiring images and environmental information using cameras and sensors, (2) collecting objects and other necessary work using robot hands. Manipulator should be attached quickly to underwater robots as needed. So we have been developing “an easy-removable underwater manipulator.” The manipulators is easy to maintain because all electric components – DC motors, motor controllers, etc. – are in a pressure-resistant vessel, the manipulator has only one cable, and the manipulator is easy to attach and detach. In this paper, we illustrate the manipulator design and performance test results.
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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 (December 1, 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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Chalhoub, N. G., and A. G. Ulsoy. "Control of a Flexible Robot Arm: Experimental and Theoretical Results." Journal of Dynamic Systems, Measurement, and Control 109, no. 4 (December 1, 1987): 299–309. http://dx.doi.org/10.1115/1.3143859.
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The operation of high precision robots is severely limited by. their manipulator dynamic deflection, which persists for a period of time after a move is completed. These unwanted vibrations deteriorate the end effector positional accuracy and reduce significantly the robot arm production rate. A “rigid and flexible motion controller” is derived to introduce additional damping into the flexible motion. This is done by using additional sensors to measure the compliant link vibrations and feed them back to the controller. The existing actuators at the robot joints are used (i.e., no additional actuators are introduced). The performance of the controller is tested on a dynamic model, developed in previous work, for a spherical coordinate robot arm whose last link only is considered to be flexible. The simulation results show a significant reduction in the vibratory motion. The important issue of control and observation spillover is examined and found to present no significant practical problems. Partial evaluation of this approach is performed experimentally by testing two controllers, a “rigid body controller” and a “rigid and flexible motion controller,” on a single joint of a spherical coordinate, laboratory robot arm. The experimental results show a significant reduction in the end effector dynamic deflection; thus partially validating the results of the digital simulation studies.
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Zijie, Fan, Lu Bingheng, and C. H. Ku. "Dynamic Analysis of Flexible Manipulator Arms With Distributed Viscoelastic Damping." Journal of Dynamic Systems, Measurement, and Control 119, no. 4 (December 1, 1997): 831–33. http://dx.doi.org/10.1115/1.2802399.
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The main objective of this work is to predict the effect of distributed viscoelastic damping on the dynamic response of multilink flexible robot manipulators. A general approach, based on the principle of virtual work, is presented for the modeling of flexible robot arms with distributed viscoelastic damping. The finite element equations are developed, and a recurrence formulation for numerical integration of these equations is obtained. It is demonstrated, by a numerical example, that the viscoelastic damping treatments have a significant effect on the dynamic response of flexible robot manipulators.
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Song, Lu-Kai, Guang-Chen Bai, Cheng-Wei Fei, and Rhea P. Liem. "Transient probabilistic design of flexible multibody system using a dynamic fuzzy neural network method with distributed collaborative strategy." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 11 (November 26, 2018): 4077–90. http://dx.doi.org/10.1177/0954410018813213.
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To improve the efficiency and accuracy of transient probabilistic analysis of flexible multibody systems, a dynamic fuzzy neural network method-based distributed collaborative strategy is proposed by integrating extremum response surface method and fuzzy neural network. Distributed collaborative dynamic fuzzy neural network method is mathematically modeled and derived by considering the high nonlinearity, strong coupling, and multicomponent characteristics of a flexible multibody system. The proposed method is demonstrated to perform the transient probabilistic analysis of a two-link flexible robot manipulator. We obtain the distributional characteristics, reliability degree, and sensitivity degree of robot manipulator, which are useful for the effective design of robot manipulator. By comparing the full-scale method, extremum response surface method, dynamic fuzzy neural network method, and distributed collaborative dynamic fuzzy neural network method, we find that the distributed collaborative dynamic fuzzy neural network method can be used to perform the transient probabilistic analysis of the robot manipulator and improve the computational efficiency while maintaining a good accuracy. Moreover, this study offers a useful insight for the reliability-based design optimization of flexible multibody systems, and enriches the field of mechanical reliability theory as well.
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Lima, Jeferson J., José M. Balthazar, Rodrigo T. Rocha, Frederic C. Janzen, Davide Bernardini, Grzegorz Litak, Dailhane G. Bassinello, and Angelo M. Tusset. "On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying." Shock and Vibration 2019 (February 14, 2019): 1–14. http://dx.doi.org/10.1155/2019/5408519.
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In recent years, the evolution of artificial intelligence techniques has widely grown such that it gives new ways to improve human life, not only at work but also living. Nowadays, to the human being, physical human-robot interactions (PHRIs) have been presented very important and present itself as a major challenge for the current engineering. Therefore, this work designs and analyses a two-degree-of-freedom robotic arm with flexible joints driven by a DC motor. Due to the interaction between the robot links and flexible joints, the arm may present overshoots when it is moved such that it becomes difficult to manipulate the arm. Therefore, Magnetorheological dampers (MR damper or MR brake) are attached to the links of the arm in order to control such overshoot and provide a way to adjust the mechanical limitations of the arm. The dynamics of the system will be investigated, showing the appearance of chaotic behavior due to the coupling of the manipulator to the motors. After that, the feedback control is obtained through the state-dependent Riccati equation (SDRE) aiming the control of the positioning of the manipulator and the torque applied on the MR damper. Numerical results showed that the proposed control using hybrid actuators, DC motor, and MR brake was effective to control the position and behavior of the flexible joints of the manipulators.
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Zhu, Yuanchao, Canjun Yang, Qianxiao Wei, Xin Wu, and Wei Yang. "Human–robot shared control for humanoid manipulator trajectory planning." Industrial Robot: the international journal of robotics research and application 47, no. 3 (February 21, 2020): 395–407. http://dx.doi.org/10.1108/ir-10-2019-0217.
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Purpose This paper aims to propose an intuitive shared control strategy to control a humanoid manipulator that can fully combine the advantages of humans and machines to produce a stronger intelligent form. Design/methodology/approach The working space of an operator’s arm and that of a manipulator are matched, and a genetic algorithm that limits the position of the manipulator’s elbow joint is used to find the optimal solution. Then, the mapping of the operator’s action to that of manipulators is realized. The controls of the human and robot are integrated. First, the current action of the operator is input. Second, the target object is predicted according to the maximum entropy hypothesis. Third, the joint angle of the manipulator is interpolated based on time. Finally, the confidence and weight of the current moment are calculated. Findings The modified weight adjustment method is the optimal way to adjust the weight during the task. In terms of time and accuracy, the experimental results of single target obstacle avoidance grabbing and multi-target predictive grabbing show that the shared control mode can provide full play to the advantages of humans and robots to accomplish the target task faster and more accurately than the control merely by a human or robot on its own. Originality/value A flexible and highly anthropomorphic human–robot action mapping method is proposed, which provides operator decisions in the shared control process. The shared control between human and the robot is realized, and it enhances the rapidity and intelligence, paving a new way for a novel human–robot collaboration.
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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 (May 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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Wang, Hai, and Xiao Pin Xia. "Simulation of Manipulator with Flexible Joint." Applied Mechanics and Materials 325-326 (June 2013): 999–1003. http://dx.doi.org/10.4028/www.scientific.net/amm.325-326.999.
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Joint flexibility is the key factor during dynamic control of robot manipulator. Accurate dynamic model is the fundamental of manipulator system design, analysis and control. This paper adopts Lagrange method to accomplish two degrees freedom manipulator modeling, and then design Backstepping control law according to a single-link manipulator. For the above control law, the proof of the Lyapunov stability is given and simulations are done. The simulated result suggested that the static error is decreased.
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Zabalza, Jaime, Zixiang Fei, Cuebong Wong, Yijun Yan, Carmelo Mineo, Erfu Yang, Tony Rodden, Jorn Mehnen, Quang-Cuong Pham, and Jinchang Ren. "Smart Sensing and Adaptive Reasoning for Enabling Industrial Robots with Interactive Human-Robot Capabilities in Dynamic Environments—A Case Study." Sensors 19, no. 6 (March 18, 2019): 1354. http://dx.doi.org/10.3390/s19061354.
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Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision allows the detection and localization of a randomly moving obstacle. Path correction to avoid collision avoidance for such obstacles with robotic manipulator is achieved by exploiting an adaptive path planning module along with a dedicated robot control module, where the three modules run simultaneously. These sensing/smart capabilities allow the smooth interactions between the robot and its dynamic environment, where the robot needs to react to dynamic changes through autonomous thinking and reasoning with the reaction times below the average human reaction time. The experimental results demonstrate that effective human-robot and robot-robot interactions can be realized through the innovative integration of emerging sensing techniques, efficient planning algorithms and systematic designs.
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Jumarie, Guy. "Tracking control of flexible robot manipulators with active inertia links." Robotica 8, no. 1 (January 1990): 73–80. http://dx.doi.org/10.1017/s0263574700007347.
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SUMMARYThe flexible structure of a robot multi-links manipulator can be either a side effect or, on the contrary, an essential feature. We present a fairly general model to derive the corresponding dynamic equations in quite a systematic and simple way. To this end, we use the Lagrange formulation with strain energy potential and Raleigh (dissipation) functions. The approach can incorporate torsional deformation and aerodynamic friction, and it applies easily to robots working in the sea. The trajectory control appears to be one in the presence of model imprecision, and a slightly modified version of the classical sliding control technique is utilized to design the tracking control of the manipulator. Then we introduce the time-varying inertia link device (carried out by means of sliding masses) which we suggested in earlier work, and we show how it can be used to improve the tracking control scheme above. This paper contributes new ideas concerning flexible multi-links arms and active inertia links.
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Shen, Tao, Dietric Hennings, Carl A. Nelson, and Dmitry Oleynikov. "Performance of a Multifunctional Robot for Natural Orifice Transluminal Endoscopic Surgery." Surgical Innovation 25, no. 4 (June 18, 2018): 364–73. http://dx.doi.org/10.1177/1553350618781225.
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Natural orifice transluminal endoscopic surgery (NOTES) has gained attention as a revolutionary technique with its potential advantages in eliminating skin incisions, shortening recovery time, and decreasing postoperative complications; however, its practical application is still constrained by the complexity of navigation through the surgical field and paucity of available instruments. Current progress on NOTES focuses on designing flexible articulated robots or fully inserted bimanual robots to address the limitations. However, the lack of multitasking tools, trade-offs between size and power, and lack of sufficient surgical force are too often neglected. The authors designed a bimanual robot with a multifunctional manipulator, which can realize on-site instrument-change according to surgeon needs. An articulated drive mechanism with 2 independent curvature sections was designed to deliver the robot to the surgical site. A corresponding reconfiguration operation sequence was formulated to ease insertion and thereby decrease the design trade-off between size and power. This article presents 3 benchtop and animal tests to evaluate the robotic surgery approach and demonstrate the effectiveness of the robot.
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Yu, Yang, Shimin Wei, Haiyan Sheng, and Yingkun Zhang. "Research on Real-Time Joint Stiffness Configuration of a Series Parallel Hybrid 7-DOF Humanoid Manipulator in Continuous Motion." Applied Sciences 11, no. 5 (March 9, 2021): 2433. http://dx.doi.org/10.3390/app11052433.
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In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree of freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering the potential human robot accidental collision, combined with the manipulator safety index (MSI) and human body injury thresholds, the motion speed and joint stiffness of the robot are optimized in advance. Secondly, using hyperbolic tangent function for reference, the relationship between joint torques and passive joint deflection angles of the robot is given, which is beneficial for the real-time calculation of joint stiffness and obtain reasonable joint stiffness. Then, the structural model of the selected humanoid manipulator is described, on this basis, the relationship between the joint space stiffness and the Cartesian space stiffness of the humanoid manipulator is analyzed through Jacobian matrix, and the results show that the posture and joint space stiffness of the humanoid manipulator directly affect the Cartesian space stiffness of the humanoid manipulator. Finally, according to whether the humanoid manipulator works in the human-robot interaction environment, the real-time joint stiffness configuration of the humanoid manipulator in continuous motion is simulated and analyzed. The research shows that the humanoid manipulator with flexible joints can adjust the joint stiffness in real-time during continuous motion, and the joint stiffness configuration strategy can effectively improve the safety of human body in human-robot collision. In addition, in application, when the joint space stiffness of the robot is lower, the position accuracy can be improved by trajectory compensation.
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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 (September 1, 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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Kim, Sehun, Wenjun Xu, and Hongliang Ren. "Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear Robots." Robotics 8, no. 2 (June 19, 2019): 48. http://dx.doi.org/10.3390/robotics8020048.
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Despite research related to flexible or continuum curvilinear robots, there lacks a common simulation tool for continuum robots, which are unlike rigid robots. Thus, in this paper, a robotics toolbox is utilized to model a wire-driven flexible manipulator as one of the continuum robots. Constant curvature property can enable the robotics toolbox to represent the flexible manipulator and validate its kinematics. Moreover, because the closed-form inverse kinematics methods developed previously for real-time control conceded limitations in modeling some continuum robots, we hereby develop an inverse kinematics method for the wire-driven flexible manipulator which can provide fast and reliable inverse results. Experimental results showed that geometrical information offered a stable starting point for the proposed inverse kinematics algorithm. Moreover, the first and second derivatives of a fitness function further contributed to a fast-converging solution within a few microseconds. Lastly, for the potential feasibility of an active compliance controller without physical force/torque sensors, a reaction torque observer was investigated for a flexible manipulator with direct drive mechanisms.
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Ibaraki, Soichi, and Andreas Archenti. "Special Issue on New Technologies for Robotic Manipulators and Their Industrial Applications." International Journal of Automation Technology 15, no. 5 (September 5, 2021): 565–66. http://dx.doi.org/10.20965/ijat.2021.p0565.
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The industrial robot is more precisely an “automatically controlled, reprogrammable, multipurpose manipulator, programmable in three or more axes, which can be either fixed in place or mobile” (ISO 8373:2012). According to the International Federation of Robotics, by 2018, more than 400,000 new units were being installed annually, and the global average robot density in the manufacturing industry was 99 robots per 10,000 employees. More than 30% of all installed robots were in the automotive industry, the biggest customer for robots. Research on measuring and calibrating, modeling, programming and controlling, and integrating systems has been conducted to give robotic manipulators a wider variety of industrial applications. This special issue covers technical and academic efforts related to new technologies that improve the accuracy and facilitate the implementation of robotic manipulators in industrial applications. The first paper, by Ibaraki et al., outlines technical issues and future research directions for the implementation of model-based numerical compensation schemes for industrial robots. The random forest method is used by Kato et al. to construct a calibration model for positioning errors and identify industrial robots’ positioning errors. A procedure for the quasi-static compliance calibration of serial articulated industrial manipulators is proposed by Theissen et al. A review of the kinematic modeling theory and a derived algorithm to identify error sources for a six-axis industrial robot are presented by Alam et al. Nagao et al. derive a forward kinematics model and identify the kinematics parameters for the calibration of a robot-type machine tool. A novel trajectory generation algorithm, including a corner smoothing method for high-speed and high-accuracy machining by industrial robots, is proposed by Tajima et al. Sato et al. study the vibration characteristics of an industrial robot and derive a mathematical model that represents the dynamic behavior of the system. In the context of smart manufacturing, a multilayer quality inspection framework including a measurement instrument and a robot manipulator is introduced by Azamfirei et al. To support mass customization and the development of reconfigurable manufacturing systems, Inoue et al. propose an autonomous mobile robotic manipulator. Yonemoto and Suwa present an adaptive manipulation procedure to establish an automated scheduling technique that flexibly responds to unforeseen events, such as machine failures. Sasatake et al. introduce a learning system that is based on a method for calculating the similarity between tools, and they test it on a robot system for doing housework. Finally, for better knowledge of the key challenges that manufacturers experience in implementing collaborative industrial robots, an industrial survey is conducted by Andersson et al. The editors sincerely appreciate the contributions of all the authors as well as the work of the reviewers. We are confident that this special issue will further encourage research and engineering work to increase our understanding and knowledge of robotic manipulators and their industrial applications.
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Küçük, Halûk, Gordon Parker, and Eric T. Baumgartner. "Robot positioning of flexible-link manipulator using vision." Robotica 22, no. 3 (May 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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Cretescu, Nadia Ramona, and Mircea Neagoe. "Rigid versus Flexible Link Dynamic Analysis of a 3DOF Delta Type Parallel Manipulator." Applied Mechanics and Materials 762 (May 2015): 101–6. http://dx.doi.org/10.4028/www.scientific.net/amm.762.101.
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This paper presents a comparative kinematic and dynamic analysis of a Delta parallel robot based on numerical simulations of the rigid vs. flexible links robot models. The flexible links numerical models are derived using AutoFlex module of Adams software. Finally, the conclusions regarding the obtained results useful in manipulator constructive design are presented.
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Matsuno, Takayuki, Toshio Fukuda, Fumihito Arai, and Yasuhisa Hasegawa. "Flexible Rope Manipulation Using Elastic Deformation Modeling by Dual Manipulator System with Vision Sensor." Journal of Robotics and Mechatronics 16, no. 1 (February 20, 2004): 31–38. http://dx.doi.org/10.20965/jrm.2004.p0031.
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In this paper we propose a flexible object manipulation method by a dual manipulator system. A flexible object such a rope and paper is easily deformed and has hysteresis. Various approaches have been made on the research for the flexible object manipulation. However in the former research works, the manipulator system works only simple task. For more complex works with flexible object, the robot has to hand over the flexible object. So, we propose a flexible object recognition method which can hand over a flexible object using vision information and flexible object model. The dual manipulator system tied a cylinder object with flexible rope by repeating handing over actions in the experiment.
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Qian, Zhen Jie, and Ding Guo Zhang. "Impact Dynamics of Multi-Link Robots with Link and Joint Flexibility." Applied Mechanics and Materials 226-228 (November 2012): 685–92. http://dx.doi.org/10.4028/www.scientific.net/amm.226-228.685.
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The dynamic analysis of a flexible-link-joint robot colliding with its environments is presented in this paper. Kinematics of both rotary-joint motion and link deformation is described by 4×4 homogenous transformation matrices. Both the stretching deformation, bending deformation and the torsional deformation of the flexible links are considered. Furthermore, the flexibility and the mass of the joint are considered too. The concept of impact force potential energy is introduced, so that the generalized forces due to the impact force can be computed easily. The Lagrange dynamic equations are used to establish the complete mathematic model of the system with impact. Dynamics simulation of a spatial flexible-link-joint manipulator arm is given as an example to validate the algorithm presented in this paper. And the numerical results indicate that the flexibility of the link and joint have distinguished influence on the impact dynamics of the flexible robots.
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Zhang, Fuli, and Zhaohui Yuan. "The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load." Sensors 21, no. 4 (February 22, 2021): 1522. http://dx.doi.org/10.3390/s21041522.
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The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.
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Zhao, Tie Jun. "Dynamic Cooperative Manipulating Pattern Generation for Mobile Humanoid Robot Using Waist Moment Compensation." Advanced Materials Research 201-203 (February 2011): 1978–82. http://dx.doi.org/10.4028/www.scientific.net/amr.201-203.1978.
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This research is aimed at dynamically stable motion and safety of mobile humanoid robots expected to work in a human living space. The mechanism of the mobile humanoid robot YIREN is described. A highly flexible anthropomorphic 7-DOF robotic arm and a new waist configuration with parallel driving motor are developed. Because the dynamitic behavior of manipulator and waist has an effect on the stability of mobile humanoid robots, the dynamitic model is built. By using the zero moment point, dynamic effect of the waist is obtained. A basic control method of whole body cooperative dynamic moving is proposed that uses waist cooperative motion to compensate for moment generated by the trajectory of the arms and the correctness of analysis is verified by experiments.
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Mbede, Jean Bosco, and Joseph Jean-Baptiste Mvogo Ahanda. "Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot." Journal of Robotics 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/241548.
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This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and to ensure fast tracking performance. Backstepping approach is used to ensure global asymptotic stability and its common algorithm is modified such that the link position and velocity errors converge to zero exponentially fast. In contrast with the other backstepping controller for electrically driven flexible joint robot manipulators control problem, the proposed controller is robust with respect to stiffness uncertainty and allows tracking fast motions. Simulation results are presented for both single link flexible joint electrically driven manipulator and 2-DOF flexible joint electrically driven robot manipulator. These simulations show very satisfactory tracking performances and the superiority of the proposed controller to those performed in the literature using simple backstepping methodology.
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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 (March 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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Han, Xun Mei. "The Hardware Design of Handling Manipulator in FMS." Applied Mechanics and Materials 143-144 (December 2011): 913–16. http://dx.doi.org/10.4028/www.scientific.net/amm.143-144.913.
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With CAXA software I designed the structure of the handling manipulator in the FMS. And focus for the design of the structure, introduced the hardware implementation of robot manipulator with the same characteristics of stepping away from its open-loop position control. The manipulator is mainly used for flexible manufacturing systems in material handling, flexible movement, safe, reliable, easy to adjust and control, simple operation, easy to implement process automation.
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Dixon, W. E., E. Zergeroglu, D. M. Dawson, and M. W. Hannan. "Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots." Robotica 18, no. 3 (May 2000): 325–36. http://dx.doi.org/10.1017/s0263574799002167.
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This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking. An output feedback controller that adapts for parametric uncertainty in the link dynamics of the robot manipulator is presented as an extension. Experimental results are provided as verification of the proposed controller.
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Arrais, Rafael, Paulo Ribeiro, Henrique Domingos, and Germano Veiga. "ROBIN: An open-source middleware for plug‘n’produce of Cyber-Physical Systems." International Journal of Advanced Robotic Systems 17, no. 3 (May 1, 2020): 172988142091031. http://dx.doi.org/10.1177/1729881420910316.
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Motivated by the Fourth Industrial Revolution, there is an ever-increasing need to integrated Cyber-Physical Systems in industrial production environments. To address the demand for flexible robotics in contemporary industrial environments and the necessity to integrate robots and automation equipment in an efficient manner, an effective, bidirectional, reliable and structured data interchange mechanism is required. As an answer to these requirements, this article presents ROBIN, an open-source middleware for achieving interoperability between the Robot Operating System and CODESYS, a softPLC that can run on embedded devices and that supports a variety of fieldbuses and industrial network protocols. The referred middleware was successfully applied and tested in various industrial applications such as battery management systems, motion, robotic manipulator and safety hardware control, and horizontal integration between a mobile manipulator and a conveyor system.
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Wada, Mitsuo. "Neural Networks and the Applications for Robot Control." Journal of Robotics and Mechatronics 2, no. 4 (August 20, 1990): 219. http://dx.doi.org/10.20965/jrm.1990.p0219.
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It is well known that robots are being skillfully applied and with favorable performance in a variety of fields, for use in the Japanese manufacturing industry in particular, thanks to progress in robot technology. Today, robots are expected to accommodate men and in the near future be utilized in the field of home life in compliance with human beings. Pessimistically speaking, however, it is impossible to deny that conventional robots, such as teaching playback robots (which men must operate directly), are not able to play roles in the future as expected, so that the development of a new control system which is able to overcome conventional systems in performance ability is indispensable. In other words, flexible control systems by which robots are able to behave autonomously, with minimum human interference is urgently required. We believe that the following three concepts are indispensable for a robot to be equipped with flexibility. a) Manipulators/hands and lggs / wheek with human flexibility. b) Control of flexible and intelligent motions for control in manipulation/handling and locomotion; c) Flexible intelligence and a sense of judgement which permits the robot to execute motions autonomously, adapting itself to the requirements of the human environment. Solving these problems will require investigation into information processing, a study into the function of the brain and central nervous system of human and other living bodies. Thus the information processing theory about neural networks which simulate the functions of the brain has progressed rapidly to activate R & D on the application of motion control and speech processing which have made use of the conventional Neumann computer difficult to handle. Neural networks have the capacity of parallel distributed processing and self-organization as well as learning capacity. Its theory has provided an effective basis for materialization of flexible robots. In the field of level b. and c. mentioned earlier, the neural network theory comprises a large potential to be applied to robots, so that attention is being focused on it. Nevertheless, information processing by neural network is not omnipotent for solving such problems. Presently, it is difficult for a neural network to solve problems which require complex calculations in robot control; for instance, such controls that take force and acceleration into account. Control of flexible robots which mobilize whole arms will require parallel processing of data obtained from many sensors and to control numerous degrees of motion. Therefore, it has become increasingly important for problem solving to combine such problems inherent to robots with parallel processing, self-organization and learning ability of neural networks. From this point of view, therefore, further promotion of R & D on the application technology of neural network for robots is important. These efforts will produce a new neural network-theory for robots and eventually permit autonomous motion. This special issue compilied articles related to applications of neural network to robots, which were produced in the above mentioned environment, from a review on neuromorfhic control, through dynamic system control, optimal trajectory, planning of motion for handling, manipulator locomotion and travelling, to problems in application systems. We hope these articles help our readers understand the present state of Japanese R & D and the application of neural network for robots, as well as new subjects possible for progress in the future. Finally, we gratefully acknowledge Prof. Toshio Fukuda (who contributed a review) and other contributors on their latest achievements.
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Morris, A. S., and A. Madani. "Quadratic optimal control of a two-flexible-link robot manipulator." Robotica 16, no. 1 (January 1998): 97–108. http://dx.doi.org/10.1017/s0263574798000186.
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Manipulators with some flexible links are attractive because they avoid the severe control problems associated with the large inertia forces generated when the large-mass, rigid links in conventional robot manipulators move at high speed. In fact only two of the links within a typical six degrees of freedom revolute-geometry industrial robot cause significant inertia forces, and so only these two links need to be flexible. The development of a two-flexible-link system controller is therefore very relevant to larger manipulators, because it can be readily expanded by adding simple controllers for the other rigid links. Two alternative controllers are developed in this paper, a computed-torque controller and a quadratic optimal controller. Simulations confirm the superior performance of the latter.
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Korayem, M. H., M. Bamdad, H. Tourajizadeh, A. H. Korayem, R. M. Zehtab, H. Shafiee, and A. Arvani. "Experimental results for the flexible joint cable-suspended manipulator of ICaSbot." Robotica 31, no. 6 (February 28, 2013): 887–904. http://dx.doi.org/10.1017/s026357471300009x.
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SUMMARYIn this paper, design, dynamic, and control of the motors of a spatial cable robot are presented considering flexibility of the joints. End-effector control in order to control all six spatial degrees of freedom (DOFs) of the system and motor control in order to control the joints flexibility are proposed here. Corresponding programing of its operation is done by formulating the kinematics and dynamics and also control of the robot. Considering the existence of gearboxes, flexibility of the joints is modeled in the feed-forward term of its controller to achieve better accuracy. A two sequential closed-loop strategy consisting of proportional derivative (PD) for linear actuators in joint space and computed torque method for nonlinear end-effector in Cartesian space is presented for further accuracy. Flexibility is estimated using modeling and simulation by MATLAB and SimDesigner. A prototype has been built and experimental tests have been done to verify the efficiency of the proposed modeling and controller as well as the effect of flexibility of the joints. The ICaSbot (IUST Cable-Suspended robot) is an under-constrained six-DOF parallel robot actuated by the aid of six suspended cables. An experimental test is conducted for the manufactured flexible joint cable robot of ICaSbot and the outputs of sensors are compared with simulation. The efficiency of the proposed schemes is demonstrated.