Parametric Optimization of the Transport Operations of a Two-Link Manipulator
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Mathematical Sciences"
DOI: 10.1007/s10958-019-04227-8
Abstract: We study the problem of optimization of motion of a two-link manipulator, which performs transport operations under the action of controls (moments of forces in the hinges). The initial and the final position of the… read more here.
Keywords: parametric optimization; transport operations; manipulator; two link ... See more keywords
Dynamic advantages of singular configurations in moving heavy object by a two-link mechanism
Sign Up to like & getrecommendations! Published in 2017 at "Multibody System Dynamics"
DOI: 10.1007/s11044-016-9553-4
Abstract: This paper demonstrates dynamic advantages of singular configurations for a two-link mechanism by theoretical analysis and numerical simulations. The advantages can be utilized in moving a heavy object by the mechanism. The theoretical analysis reveals… read more here.
Keywords: singular configurations; mechanism; dynamic advantages; two link ... See more keywords
Motion analysis of two-link nonholonomic swimmers
Sign Up to like & getrecommendations! Published in 2017 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-017-3622-y
Abstract: This paper presents a tool for analyzing the motion of two-link nonholonomic swimmers. We refer to these systems as Land-sharks, which are a generalization of the well known Roller Racers. By exploiting the symmetry of… read more here.
Keywords: motion analysis; link nonholonomic; nonholonomic swimmers; two link ... See more keywords
Sliding Mode Boundary Control for a Planar Two-link Rigid-flexible Manipulator with Input Disturbances
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-019-0277-0
Abstract: This paper investigates the robust control problem for a planar two-link rigid-flexible coupling manipulator, whose input torques are influenced by bounded disturbances. A nonlinear partial differential equation (PDE) model which only contains measurable states in… read more here.
Keywords: link rigid; sliding mode; control; rigid flexible ... See more keywords
Experimental study on active vibration control for a kind of two-link flexible manipulator
Sign Up to like & getrecommendations! Published in 2019 at "Mechanical Systems and Signal Processing"
DOI: 10.1016/j.ymssp.2018.09.001
Abstract: Abstract This paper presents experimental investigations on active vibration control of a two-link flexible manipulator (TLFM), utilizing a generalized minimum variance self-tuning control (GMVSTC) and Takagi-Sugeno model based fuzzy neural network control (TS-FNN) schemes. The… read more here.
Keywords: control; flexible manipulator; two link; vibration ... See more keywords
Dragging motion of a two-link mobile manipulator with large pull force through singular configuration: theoretical analysis and experimental verification
Sign Up to like & getrecommendations! Published in 2018 at "Advanced Robotics"
DOI: 10.1080/01691864.2018.1476180
Abstract: ABSTRACT This paper reveals the advantageous feature of singular configuration for a two-link mobile manipulator by theoretical analysis, numerical simulations and experiments. When a mobile manipulator drags a heavy object on a flat floor, a… read more here.
Keywords: singular configuration; manipulator; force; mobile manipulator ... See more keywords
Intermittent sliding locomotion of a two-link body.
Sign Up to like & getrecommendations! Published in 2020 at "Physical review. E"
DOI: 10.1103/physreve.101.052613
Abstract: We study the possibility of efficient intermittent locomotion for two-link bodies that slide by changing their interlink angle periodically in time. We find that the anisotropy ratio of the sliding friction coefficients is a key… read more here.
Keywords: two link; power; friction; locomotion two ... See more keywords
Dynamic Modeling and Vibration Suppression for Two-Link Underwater Flexible Manipulators
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3164706
Abstract: This paper proposes a composite controller (CC) to improve the accuracy of trajectory tracking and suppress the vibration of two-link underwater flexible manipulators. A dynamic model of the flexible manipulators considering hydrodynamic force is established… read more here.
Keywords: control; flexible manipulators; two link; vibration ... See more keywords
Adaptive control of a two-link robot using batch least-square identifier
Sign Up to like & getrecommendations! Published in 2021 at "IEEE/CAA Journal of Automatica Sinica"
DOI: 10.1109/jas.2020.1003459
Abstract: We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled uncertainties. Robot manipulators are widely used in telemanipulation systems where they… read more here.
Keywords: system; control; two link; robot ... See more keywords
Nonlinear Partial Differential Equation Model-Based Coordination Control for a Master–Slave Two-Link Rigid–Flexible Manipulator With Vibration Repression
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Computational and Nonlinear Dynamics"
DOI: 10.1115/1.4049219
Abstract: In this study, vibration control problem is considered for a coordinative master–slave two-link rigid–flexible manipulator. By the help of Hamilton's principle, the dynamic model of the master–slave two-link rigid–flexible manipulator is expressed using nonlinear partial… read more here.
Keywords: master; link rigid; manipulator; slave two ... See more keywords
Chaotic tip trajectory tracking and deflection suppression of a two-link flexible manipulator using second-order fast terminal SMC
Sign Up to like & getrecommendations! Published in 2019 at "Transactions of the Institute of Measurement and Control"
DOI: 10.1177/0142331218819700
Abstract: The problem of chaotic tip trajectory tracking control for a planar assumed modes modelled two-link flexible manipulator is addressed. Tracking of such an apparently random-like (chaotic) desired trajectory is a challenging task. Initially, a PID-type… read more here.
Keywords: trajectory; control; tip trajectory; link flexible ... See more keywords