Residual vibration reduction control after catching a falling steel sphere by a two-link catching flexible robot arm

2004 ◽  
Vol 19 (1-4) ◽  
pp. 361-366 ◽  
Author(s):  
Hiroyuki Kojima ◽  
Akihiro Morito ◽  
Katsuhiro Konno ◽  
Toshio Kobayashi
Keyword(s):  
Vibration Reduction ◽  
Robot Arm ◽  
Flexible Robot ◽  
Residual Vibration ◽  
Steel Sphere

Evolutionary Learning Acquisition of Optimal Joint Angle Trajectories of Flexible Robot Arm

2006 ◽  
Vol 18 (1) ◽  
pp. 103-110 ◽  
Author(s):  
Hiroyuki Kojima ◽  
◽  
Takahiro Hiruma
Keyword(s):  
Genetic Algorithm ◽  
Joint Angle ◽  
Fitness Function ◽  
Vibration Reduction ◽  
Evolutionary Learning ◽  
Robot Arm ◽  
Flexible Robot ◽  
Residual Vibration ◽  
Fifth Order ◽  
Acquisition Method

This paper proposes the evolutionary learning acquisition method of the optimal joint angle trajectories of a flexible robot arm using the genetic algorithm is proposed, and the effects of the optimal joint angle trajectories obtained by the present evolutionary learning acquisition method on the residual vibration reduction are ascertained numerically and experimentally. In the construction of the evolutionary learning acquisition algorithm of the optimal joint angle trajectories, the joint angular velocity curves are depicted with fifth-order polynomials, and, by considering the boundary and constraint conditions, they are expressed by four parameters. Then, the residual vibrations of the flexible robot arm are expressed as a function of the chromosome consisting of four parameters, namely, four genes, and a fitness function of the genetic algorithm for the residual vibration reduction is defined. Furthermore, the numerical calculations have been carried out, and it is confirmed that the residual vibrations almost disappear. Moreover, the experimental results are demonstrated, and the usefulness of the present evolutionary learning acquisition method of the optimal joint angle trajectories of the flexible robot arm using the genetic algorithm is ascertained experimentally.

Optimal control of a flexible robot arm

1988 ◽  
Vol 29 (3) ◽  
pp. 459-467 ◽  
Author(s):  
James D. Lee ◽  
Ben-Li Wang
Keyword(s):  
Optimal Control ◽  
Robot Arm ◽  
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.

Control of a Flexible Robot Arm using a Simplified Fuzzy Controller

2018 ◽  
pp. 267-294
Author(s):  
Hongxing Li ◽  
C.L. Philip Chen ◽  
Han-Pang Huang
Keyword(s):  
Fuzzy Controller ◽  
Robot Arm ◽  
Flexible Robot

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
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