Studies on a light weight and flexible robot manipulator

SUMMARYAn expression is derived for the combined flexural-joint stiffness matrix and the elastic deformation field of a servo-controlled two-link robot manipulator. Such expressions are needed in dealing with light weight high-speed flexible robot manipulators. The approach employs a strain energy invariance principle with respect to the elemental and the system reference coordinate frames to derive the desired 9 × 9 combined flexural joint stiffness matrix.

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Position and force control of a flexible robot manipulator for orthopedic surgery

2009 European Control Conference (ECC) ◽

10.23919/ecc.2009.7074922 ◽

2009 ◽

Author(s):

Pedro Pires ◽

Pedro Teodoro ◽

Jorge Martins ◽

Jose Sa da Costa

Keyword(s):

Orthopedic Surgery ◽

Force Control ◽

Robot Manipulator ◽

Flexible Robot

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Chaotic Path Planning for a Two-Link Flexible Robot Manipulator Using a Composite Control Technique

Recent Advances in Chaotic Systems and Synchronization ◽

10.1016/b978-0-12-815838-8.00012-1 ◽

2019 ◽

pp. 233-257 ◽

Cited By ~ 2

Author(s):

Kshetrimayum Lochan ◽

Jay Prakash Singh ◽

Binoy Krishna Roy ◽

Bidyadhar Subudhi

Keyword(s):

Path Planning ◽

Robot Manipulator ◽

Control Technique ◽

Flexible Robot ◽

Composite Control

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Hybrid Control Schemes Using Input Shaping And Full–State Feedback For A Flexible Robot Manipulator

Jurnal Teknologi ◽

10.11113/jt.v49.203 ◽

2008 ◽

Vol 49 (1) ◽

Author(s):

Mohd Ashraf Ahmad ◽

Herman Wahid ◽

Zaharuddin Mohamed

Keyword(s):

State Feedback ◽

Hybrid Control ◽

Robot Manipulator ◽

Input Shaping ◽

Flexible Robot ◽

Control Schemes ◽

Full State ◽

Full State Feedback

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An investigation of fuzzy logic control of flexible robots

Robotica ◽

10.1017/s0263574700016623 ◽

1993 ◽

Vol 11 (4) ◽

pp. 363-372 ◽

Cited By ~ 12

Author(s):

Yueh-Jaw Lin ◽

Tian-Soon Lee

Keyword(s):

Fuzzy Logic ◽

Control Algorithm ◽

Fuzzy Logic Controller ◽

Robot Manipulator ◽

Nonlinear Effects ◽

Control Law ◽

Flexible Robot ◽

Control Rules ◽

Logic Control ◽

The Mathematical Model

SUMMARYIn this paper a control law, which consists of a fuzzy logic controller plus a nonlinear effects negotiator for a flexible robot manipulator, is presented. The nonlinear effects negotiator is used to enhence the control system's ability in dealing with the uncertainty of the mathematical model. The control algorithm is simple and easy to tune as opposed to conventional control law which requires time consuming gains selections. To obtain fuzzy control rules, an error response plane method is proposed.

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