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Flexible robot
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Electrically conductive composite materials are widely used for several applications, particularly flexible strain sensors for wearable electronic devices to detect human motions or apply to soft robotic technologies.
11p
viberbers
09-08-2023
4
4
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This paper presents the approach of building a mathematical model for a parallel robotic manipulator with flexible links and elastic joints. The links to the base are assumed to be rigid bodies, and the thin connecting rods are assumed to be flexible links
16p
viwolverine
11-07-2023
4
2
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This action limits the flexibility in the mechanical structure of the system. In order to make a robot more flexible, some researcher suggested replacing the solid legs with compliant components such as elastic legs. Basing on that transforming in mechanical structure, many control algorithms have been implemented by the direction that approximating robot into SLIP model to simplify the real model.
9p
vidoctorstrange
06-05-2023
8
4
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Most kinds of robots in researches are in solid structures. In these models, Euler-Lagrange method is easily used to obtain dynamic equations for simulation and obtaining controllers. But, actually, there is always flexibility - even very small or remarkable – in all kinds of robots. This research solves a problem in modelling a complex robot with a flexible link-flexible inverted pendulum- by presenting a method to simplify that robot.
8p
vidoctorstrange
06-05-2023
6
4
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In this paper, we consider the adaptive sliding mode control with radial basis function neural networks for the Omni-directional mobile robot. This is a holonomic robot that can operate easily in small and narrow spaces, due to the ability of flexible rotational and translational moving, simultaneously and independently.
8p
vidoctorstrange
06-05-2023
12
6
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This problem and its variants can find many other meaningful applications in modern manufacturing systems, such as the robot cell scheduling with computer numerical control machines or printed circuit boards. The idea behind our algorithm may inspire more practical algorithms.
14p
guernsey
28-12-2021
14
0
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This paper presents the method to encode the robot's roadmap by a matrix and improve Dijkstra's algorithm to find the shortest path and the fewest turns. Besides, develop an algorithm to detect and avoid static obstacles and route the robot AGV instantaneously when it encounters them in a flexible manufacturing system where devices are arranged in a matrix style. According to the algorithms of this study, a Matlab computation and simulation program has been write to explore different scenarios in the production line.
9p
spiritedaway36
28-11-2021
17
4
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In this article, a spatial multi-section continuum robot with elastic backbone is considered. The movement of backbone is driven by cable wires through the main. The kinematic characteristics of the continuum robot are demonstrated by modeling the kinematics of its flexible backbone.
8p
viwendy2711
05-10-2021
14
4
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This paper presents the results of controller designing for enhancement position accuracy of two-link flexible robot which motions on planar plane. The first link is rigid with rotational joint and the second link is flexible and slides in translational joint which fixed mounted the end point of link 1.
10p
vinevada2711
19-03-2021
14
3
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Dynamic equations of flexible robot in this paper are built by using finite element method (FEM) and Lagrange’s equations of the second kind approach. The generalized displacement vector in dynamic equations includes motion and elastic displacement variables.
10p
vinevada2711
19-03-2021
14
2
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In order to gain maximum throughput, minimum tardiness from the minimum investment of funds for the material handling activities, it is important to determine the optimum numbers of MHRs required for efficient production of jobs in the FMS.
12p
kelseynguyen
27-05-2020
14
3
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This article presents analysis of inverse dynamics of a serial manipulator in milling process. With the exception of positioning accuracy issue, machining by robots have more advantages than by conventional CNC milling machines, due to higher flexible kinematics (many links and degrees of freedom) and larger working space. Therefore, motion of the robot links is more complicated. Process forces and complicated motion involve to difficulties in solving dynamic problems of robots. This affects the robot control to match machining requirements.
15p
chauchaungayxua2
07-01-2020
26
2
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The IRB 1200 has no offset in axis two - an innovation that results in a longer stroke than other small robots, meaning it can be placed very close to the work piece and still be functional. One particular benefit of this long stroke is that it allows for a much more compact installation when the robot is mounted on the ceiling inside a small cell, such as in electronics machining or polishing applications. The robot’s large useable working area contained in a small package leads to shorter cycles and more compact machines.
2p
mongtuyen23
18-11-2019
19
1
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Due to material savings and acceleration time reduction, robotic manipulators are designed to be more slender. Therefore, the elasticity of the links should be taken into account in the dynamic study and control design. This paper concerns modeling and control of a single flexible manipulator (SFM).
12p
vidonut2711
08-11-2019
16
0
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This paper presents a control structure for orbital servicing mission of CEASAR robotic arm developed by German Aerospace Center (DLR). In order to reduce mass the CEASAR arm is equipped with Harmonic-Drives with high ratio which unfortunately lead to high joint elasticity and high motor friction and have to be considered in controller design for successful manipulator in-orbit operations.
13p
viconandoyle2711
29-08-2019
20
1
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The emergence of next-level technologies in fields like robotics and artificial intelligence has led many to conclude that we are entering a Fourth Industrial Revolution. Capabilities like 3D printing and nano-technology are expected to make it increasingly possible to integrate human and digital functions, changing the scope, speed, and flexibility of what can be accomplished in numerous sectors and activities.
3p
visamurai2711
23-07-2019
31
1
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The friction and ripple effects from motor and drive cause a major problem for the robot position accuracy, especially for robots with high gear ratio and for high-speed applications. In this paper we introduce a simple, effective, and practical method to compensate for joint friction of flexible joint robots with joint torque sensing, which is based on a nonlinear disturbance observer.
19p
shiwo_ding7
05-06-2019
31
3
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3D motion planning for robot assisted active flexible needle based on rapidly exploring random trees
Results show that the proposed algorithm yields superior results as compared to the commonly used algorithm in terms of computational speed, form of path and robustness of searching ability, which potentially make it suitable for the real-time intraoperative planning in clinical operations.
8p
praishy2
27-02-2019
13
1
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In this paper, we have investigated the intelligent control of a hydraulically driven parallel robot based on the dynamic model and two control schemes have been developed: 1) Fuzzy-PID self tuning controller composed of the conventional PID control and with Fuzzy logic; 2) Adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller.
8p
cathydoll5
27-02-2019
41
1
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In this paper, two nonlinear dynamic models of flexible manipulator with translational and rotational joints are formulated based on Finite Element Method (FEM). Dynamic equations of manipulators are derived by using Lagrange equations.
7p
trangcham1896
10-12-2018
32
1
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