Results 241 to 250 of about 1,018,744 (298)

Adaptive control of flexible joint manipulators

Systems and Control Letters, 1989
The authors present an adaptive control result for flexible-joint robot manipulators. Under the assumption of weak joint elasticity, a singular perturbation argument is used to show that recent adaptive control results for rigid robots can be used to control flexible-joint robots, provided a simple correction term is added to the control law to damp ...
Mark W Spong
exaly   +2 more sources

Coupling Effect of A Flexible Link and A Flexible Joint

The International Journal of Robotics Research, 1994
In this article the coupling effect of a flexible link and a flex ible joint is investigated. The system considered is a flexible link driven by an actuator through a flexible joint. First the dynamic equations of a flexible link-joint system are derived.
Fengfeng Xi, Robert G. Fenton
openaire   +1 more source

Evolving flexible joint morphologies

Proceedings of the 14th annual conference on Genetic and evolutionary computation, 2012
Transferring virtual robotic designs into physical robots has become possible with the development of 3D printers. Accurately simulating the performance of real robots in a virtual environment requires modeling a variety of conditions, including the physical composition of the robots themselves.
Jared M. Moore, Philip K. McKinley
openaire   +1 more source

Consensus control of flexible joint robots

52nd IEEE Conference on Decision and Control, 2013
Synchronization of networks composed by fully-actuated robot manipulators has received a lot of attention from the control theory community. Unfortunately, the case of under-actuated robots has not been deeply studied. The aim of this paper is to extend previous results reported by the authors [2] addressing the particular (but of practical interest ...
Sofia Avila-Becerril, Gerardo Espinosa-Pérez, Elena Panteley, Romeo Ortega   +3 more
openaire   +1 more source

Adaptive control of flexible-joint robots

IEEE Transactions on Robotics and Automation, 1992
The problem of designing a robust adaptive control strategy for flexible joint robot manipulators is considered. By utilising the concept of integral manifolds, reduced-order models of the flexible system are obtained. This makes it possible to develop adaptive control schemes for the flexible full-order system at the reduced-order level, which ...
openaire   +1 more source

Control of flexible arms with friction in the joints

IEEE Transactions on Robotics and Automation, 1993
The control of flexible arms with friction in the joints is studied. A method to identify the dynamics of a flexible arm from its frequency response (which is strongly distorted by Coulomb's friction) is proposed. A robust control scheme that minimizes the effects of this friction is presented. The scheme consists of two nested feedback loops: an inner
Vicente Feliu, Kuldip S. Rattan, H. Benjamin Brown Jr.   +2 more
openaire   +1 more source

Development of flexible pneumatic spherical joint

IEEE Conference on Robotics, Automation and Mechatronics, 2004., 2005
A flexible pneumatic spherical joint is mainly composed of three columnar elastic shells which are reinforced and restricted by embedded spiral metal wire. It is driven directly by compressed air. Following a brief introduction of the structure and working principles of the flexible pneumatic spherical joint, the static model is constructed to describe
Guanjun Bao, Libin Zhang, Qinghua Yang, Jian Ruan   +3 more
openaire   +1 more source

Control of flexible joint robot manipulators by compensating flexibility

2018
Summary: A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators.
Ahmadi, Sareh, Fateh, Mohammad Mehdi
openaire   +2 more sources