Identification and Control of Flexible Joint Robot Using Multi-Time-Scale Neural Network
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Shanghai Jiaotong University (science)"
DOI: 10.1007/s12204-020-2210-3
Abstract: In this paper, a new identification and control scheme for the flexible joint robotic manipulator is proposed. Firstly, by defining some new state variables, the commonly used dynamic equations of the flexible joint robotic manipulators… read more here.
Keywords: flexible joint; using multi; identification; multi time ... See more keywords
Global mode method for dynamic modeling of a flexible-link flexible-joint manipulator with tip mass
Sign Up to like & getrecommendations! Published in 2017 at "Applied Mathematical Modelling"
DOI: 10.1016/j.apm.2017.02.025
Abstract: Abstract In this paper, the global mode method (GMM) is proposed to obtain a reduced-order analytical dynamic model for a signal flexible-link flexible-joint (SFF) manipulator. Firstly, the nonlinear partial differential equations (PDE) that govern the… read more here.
Keywords: flexible joint; mode; method; global mode ... See more keywords
Experimental parameter identification of flexible joint robot manipulators
Sign Up to like & getrecommendations! Published in 2017 at "Robotica"
DOI: 10.1017/s0263574717000224
Abstract: SUMMARY This paper contributes by presenting a parameter identification procedure for n-degrees-of-freedom flexible joint robot manipulators. An advantage of the given procedure is the obtaining of robot parameters in a single experiment. Guidelines are provided… read more here.
Keywords: parameter identification; flexible joint; joint robot; robot manipulators ... See more keywords
Adaptive finite-time comsensus tracking control for coopetition flexible joint multi-manipulators with full-state constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3158972
Abstract: In this paper, the adaptive full-state constraints bipartite consensus tracking problem for coopetition flexible joint multi-manipulator systems with finite-time convergence is investigated. Based on the finite-time convergent method, the command filtered backstepping technique is introduced… read more here.
Keywords: state; finite time; flexible joint; coopetition ... See more keywords
Adaptive fuzzy dynamic surface control of flexible-joint robot systems with input saturation
Sign Up to like & getrecommendations! Published in 2019 at "IEEE/CAA Journal of Automatica Sinica"
DOI: 10.1109/jas.2019.1911330
Abstract: In this paper, we propose an adaptive fuzzy dynamic surface control ( DSC ) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with… read more here.
Keywords: surface control; flexible joint; input saturation; dynamic surface ... See more keywords
Design and Fabrication of a 3-D Printed Metallic Flexible Joint for Snake-Like Surgical Robot
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2896475
Abstract: Snake-like robots have numerous applications in minimally invasive surgery. One important research topic of snake-like robots is the flexible joint mechanism and its actuation. This letter describes the design and fabrication of a new type… read more here.
Keywords: surgical robot; flexible joint; like surgical; design fabrication ... See more keywords
Shape-Locking Mechanism of Flexible Joint Using Mechanical Latch With Electromagnetic Force
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2897006
Abstract: Single-incision laparoscopic surgery (SILS) has emerged as a procedure to further improve cosmetic profits and reduce the postoperative pain of multiport laparoscopic surgery. However, SILS is a difficult operation due to the limited workspace or… read more here.
Keywords: flexible joint; force; mechanism; shape locking ... See more keywords
Nonlinear PI“D”-Type Control of Flexible Joint Robots by Using Motor Position Measurements Is Globally Asymptotically Stable
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2022.3194043
Abstract: An important subject that arises in the position control of robot manipulators is the local or global asymptotic stability of the closed-loop system equilibrium point, especially when an integral action is added to the control… read more here.
Keywords: control; joint robots; motor position; position measurements ... See more keywords
Adaptive Fuzzy Tracking Control of Flexible-Joint Robots Based on Command Filtering
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2019.2920599
Abstract: The precise tracking control problem for n-link flexible-joint (FJ) robotic systemsis addressed in this paper. A new adaptive fuzzy command filtered control strategy is presented, where fuzzy logic systems are utilized to approximate the unknown… read more here.
Keywords: command; flexible joint; control; adaptive fuzzy ... See more keywords
Stable Flexible-Joint Floating-Base Robot Balancing and Locomotion via Variable Impedance Control
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2022.3169848
Abstract: This article presents a framework for systematic, stable and passive, dynamical balancing and locomotion control of flexible-joint bipedal robots. In order to achieve stability/passivity of the full flexible-joint, floating-base model with contacts, several novel control… read more here.
Keywords: floating base; control; balancing locomotion; joint floating ... See more keywords
Singular Perturbation-Based Adaptive Integral Sliding Mode Control for Flexible Joint Robots
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2022.3222684
Abstract: The flexible joint robot (FJR) typically experiences parametric variations, nonlinearities, underactuation, noise propagation, and external disturbances which seriously degrade the FJR tracking. This article proposes an adaptive integral sliding mode controller (AISMC) based on a… read more here.
Keywords: integral sliding; sliding mode; flexible joint; singular perturbation ... See more keywords