The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on Lagrangian-assumed modes formulation. This form of dynamic model is suitable ...

A parallelogram drive enables lightweight arms to have a higher rigidity and to reduce the actuator weight moved. Analysis of the flexible closed kinematic chain dynamics and design of the control are described in this ...

Flexible manufacturing systems (FMS) that incorporate transport robots are currently dominated by the use of automatic guided vehicles. These AGVs generally require significant restructuring of the workplace in order for ...

The control of lightweight flexible manipulators moving along predefined paths is the focus of this work. The flexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full order ...

The concepts of staging and bracing arc introduced with the specific example of a bracing manipulator. Staging describes the operational strategy which divides the positioning procedure into two or more levels to maximize ...

Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust ...

A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure such as an airframe. The flexible parallel link mechanism is designed ...

The performance limitations of joint variable feedback controlled manipulators due to manipulator flexibility are studied in fine and gross motions. A finite dimensional time-domain manipulator model is used in the study. ...