Force control of a single-link flexible robot based on a collision detection mechanism

2000 ◽  
Vol 147 (6) ◽  
pp. 588-595 ◽  
Author(s):  
A. Garcia ◽  
V. Feliu
Keyword(s):  
Collision Detection ◽  
Force Control ◽  
Flexible Robot ◽  
Detection Mechanism ◽  
Single Link

scholarly journals Stable force control and contact transition of a single link flexible robot using a fractional-order controller

2019 ◽  
Vol 89 ◽  
pp. 139-157 ◽  
Author(s):  
Daniel Feliu-Talegon ◽  
Vicente Feliu-Batlle ◽  
Inés Tejado ◽  
Blas M. Vinagre ◽  
S. Hassan HosseinNia
Keyword(s):  
Fractional Order ◽  
Force Control ◽  
Flexible Robot ◽  
Single Link ◽  
Fractional Order Controller

Force control of a very lightweight single-link flexible arm based on coupling torque feedback

Mechatronics ◽  
2009 ◽  
Vol 19 (3) ◽  
pp. 334-347 ◽  
Author(s):  
Ismael Payo ◽  
Vicente Feliu ◽  
Osvaldo Daniel Cortázar
Keyword(s):  
Force Control ◽  
Flexible Arm ◽  
Single Link

Comparison of models for a single-link flexible robot ARM

1994 ◽  
Vol 27 (14) ◽  
pp. 415-420
Author(s):  
E. Bove ◽  
S. Nicosia ◽  
M. Simonelli
Keyword(s):  
Robot Arm ◽  
Flexible Robot ◽  
Single Link

Neural-Network Based Learning Control of Flexible Mechanism With Application to a Single-Link Flexible Arm

1994 ◽  
Vol 116 (4) ◽  
pp. 792-795 ◽  
Author(s):  
Kazuhiko Takahashi ◽  
Ichiro Yamada
Keyword(s):  
Neural Network ◽  
Angular Position ◽  
Target System ◽  
Space Representation ◽  
Robot Arm ◽  
Flexible Robot ◽  
Neural Network Controller ◽  
Flexible Arm ◽  
Single Link ◽  
Flexible Mechanism

This paper shows the effectiveness of a neural-network controller for controlling a flexible mechanism such as a flexible robot arm. An adaptive-type direct neural controller is formulated using state-space representation of the dynamics of the target system. The characteristics of the controller are experimentally investigated by using it to control the tip angular position of a single-link flexible arm.

scholarly journals Evolutionary computing approaches to optimum design of fuzzy logic controller for a flexible robot system

2013 ◽  
Vol 23 (4) ◽  
pp. 395-412 ◽  
Author(s):  
Bidyadhar Subudhi ◽  
Subhakanta Ranasingh
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Fitness Function ◽  
Flexible Manipulator ◽  
Position Tracking ◽  
Flexible Robot ◽  
Robot System ◽  
Single Link ◽  
Tip Position

Abstract This paper presents the design of a Fuzzy Logic Controller (FLC) whose parameters are optimized by using Genetic Algorithm (GA) and Bacteria Foraging Optimization (BFO) for tip position control of a single link flexible manipulator. The proposed FLC is designed by minimizing the fitness function, which is defined as a function of tip position error, through GA and BFO optimization algorithms achieving perfect tip position tracking of the single link flexible manipulator. Then the tip position responses obtained by using both the above controllers are compared to suggest the best controller for the tip position tracking.

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