... approaches zero and the nonlinear control torque gain α ( t ) approaches a steady state gain α *, which is selected by the designer. Remarks. In this paper, we proposed a nonlinear motion control law for manipulators. The proposed controller needs only the joint position feedback and incorporates...

... links. 13 05 2010 18 07 2011 02 12 2011 02 12 2011 couplings delays flexible structures manipulators motion control shock absorbers stability vibration control High performance manipulators usually need employing lightweight links to reduce inertia forces...

... the numerical approach, when the parameter identification procedure has been finished. 02 02 2010 21 03 2011 19 07 2011 19 07 2011 manipulators mechanical engineering nonlinear systems numerical analysis parameter estimation parametric model identifiability parameter...

... involved in the design of exoskeletal interfaces. When larger force output is desired, it becomes increasingly difficult to passively reduce the dynamic effects of manipulator dynamics. High force output devices require the use of larger actuators, drive mechanisms, and linkages, leading to increased...

...Paolo Boscariol; Alessandro Gasparetto; Vanni Zanotto In order to develop an efficient and fast position control for robotic manipulators, vibration phenomena have to be taken into account. Vibrations are mainly caused by the flexibility of manipulator linkages, especially when dealing with high...

...Nader Jalili; Laxman Saggere; Arvind Raman 10 11 2009 10 11 2009 atomic force microscopy manipulators nanoelectromechanical devices scanning probe microscopy Most of today's emerging nanotechnological applications such as nanoelectromechanical systems require...

... function. Second, approximate conditions of parametric resonance are derived by a method of stationarization (describing functions of time-variant elements). The approach is illustrated by two examples. One is a robot-manipulator arm (distributed mechanical parameter system) controlled by a controller...

... manipulators, transparency and stability are significantly compromised. By considering these issues, different control schemes have been proposed in literatures. The most widely used control schemes are the passivity theory ( 3 ), wave variables ( 4 ), compliance control ( 5 ), and adaptive control ( 6...

... payload, suspended by a cable at each end. The two cables are each held by an independent robot manipulator. We will show that DP is effective at reducing residual oscillations for nonlinear systems, as demonstrated by both simulations and experimental validation. Residual oscillations were suppressed...

...Graziano Chesi; Domenico Prattichizzo; Antonio Vicino This paper deals with visual servoing for 6-degree-of-freedom robot manipulators, and considers the problem of establishing whether and how it is possible to reach the desired location while keeping all features in the field of view...

... constrained position trajectory in response to the locally measured interaction force. It is shown that the actuators, which form a multiagent learning system, can learn decentralized control strategies that reduce the object interaction forces and thus greatly improve their coordination on the manipulation...

...Przemysław Herman The precise control of a manipulator depends on its velocity as well as on its configuration and dynamic properties. This paper presents some observations that can serve as a useful tool for identifying nonlinear ear effects in a manipulator. The tool is based on equations...

... demonstrations. A 2-DOF planar manipulator activated by McKibben actuators was constructed for the purpose of demonstrating the application of the EP hypothesis on an inexpensive robotic platform, such as might be used in domestic applications. The equilibrium angle and stiffness of each of the joints...

... to accommodate multivariable systems. The extension entails the use of impedance control techniques, which are introduced to render linear the otherwise nonlinear dynamics of the master and slave manipulators, in addition to a diagonalization multivariable loop shaping technique, used to render tractable...

...Daniela Constantinescu; Septimiu E. Salcudean; Elizabeth A. Croft This paper presents an approach for providing realistic force feedback to users manipulating serial-chain virtual mechanisms. In the proposed approach, a haptic device controller is designed that penalizes users’ motion along...

... to prevent the slave manipulator of a master/slave telemanipulation system from entering into a forbidden region of the workspace. In this paper, we consider the problem of unstable vibrations of the slave and/or master against forbidden-region virtual fixtures for a general class of telemanipulator control...

...Kensuke Harada; Jun Nishiyama; Yoshihiro Murakami; Makoto Kaneko This paper discusses the manipulation of multiple objects by pushing. When multiple objects are placed on the flat floor and manipulated simultaneously by pushing, relative motion between two objects such as sliding and rotation may...

...A. Ibeas; M. de la Sen A multiestimation-based robust adaptive controller is designed for robotic manipulators. The control scheme is composed of a set of estimation algorithms running in parallel along with a supervisory index proposed with the aim of evaluating the identification performance...

...Pushpraj Mani Pathak; Amalendu Mukherjee; Anirvan Dasgupta Impedance control is an efficient and stable method of providing trajectory and force control in robotic systems. The procedure by which the impedance of the manipulator is changed is a very important aspect in the design of impedance based...

...C. K. Kevin Jui; Qiao Sun Parallel manipulators are uncontrollable at force singularities due to the infeasibly high actuator forces required. Existing remedies include the application of actuation redundancy and motion planning for singularity avoidance. While actuation redundancy increases cost...