On tracking control of flexible robot arms

2000 ◽  
Vol 45 (3) ◽  
pp. 520-527 ◽  
Author(s):  
M.A. Arteaga ◽  
B. Siciliano
Keyword(s):  
Tracking Control ◽  
Flexible Robot ◽  
Robot Arms

scholarly journals A Tracking Control of a Flexible-Robot Including the Dynamics of the Induction Motor as Actuator

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Felipe J. Torres ◽  
Juan P. Ramirez ◽  
Mario A. Garcia ◽  
Israel Martinez ◽  
Gustavo Capilla ◽  
...  
Keyword(s):  
Induction Motor ◽  
Tracking Control ◽  
Flexible Robot

Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs

2015 ◽  
Author(s):  
Peng Qi ◽  
Hongbin Liu ◽  
Lakmal Seneviratne ◽  
Kaspar Althoefer
Keyword(s):  
Preliminary Test ◽  
Industrial Applications ◽  
Robot Arm ◽  
Kinematic Modeling ◽  
Flexible Robot ◽  
Element Analysis ◽  
Robot Arms ◽  
Environmental Interactions ◽  
In Series ◽  
Fea Simulation

Flexible robot arms have been developed for various medical and industrial applications because of their compliant structures enabling safe environmental interactions. This paper introduces a novel flexible robot arm comprising a number of elastically deformable planar spring elements arranged in series. The effects of flexure design variations on their layer compliance properties are investigated. Numerical studies of the different layer configurations are presented and finite Element Analysis (FEA) simulation is conducted. Based on the suspended platform’s motion of each planar spring, this paper then provides a new method for kinematic modeling of the proposed robot arm. The approach is based on the concept of simultaneous rotation and the use of Rodrigues’ rotation formula and is applicable to a wide class of continuum-style robot arms. At last, the flexible robot arms respectively integrated with two different types of compliance layers are prototyped. Preliminary test results are reported.

scholarly journals An iterative scheme for learning gravity compensation in flexible robot arms

Automatica ◽  
1994 ◽  
Vol 30 (6) ◽  
pp. 993-1002 ◽  
Author(s):  
Alessandro De Luca ◽  
Stefano Panzieri
Keyword(s):  
Iterative Scheme ◽  
Gravity Compensation ◽  
Flexible Robot ◽  
Robot Arms
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