Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation

2015 ◽  
Author(s):  
Carmine Dario Bellicoso ◽  
Luca Rosario Buonocore ◽  
Vincenzo Lippiello ◽  
Bruno Siciliano
Keyword(s):  
Light Weight ◽  
Robot Arm ◽  
Aerial Manipulation ◽  
Modeling And Control ◽  
And Control

Study on Variable Structure Vibration Control for Flexible Manipulator

2014 ◽  
Vol 875-877 ◽  
pp. 1961-1966
Author(s):  
Hui Jin Mu
Keyword(s):  
Variable Structure ◽  
Flexible Manipulator ◽  
Robot Arm ◽  
Dynamics Modeling ◽  
Space Robots ◽  
Modeling And Control ◽  
Depth Study ◽  
Operating Space ◽  
And Control ◽  
Dual Arm

In recent years, modeling and control of flexible space robots are extensively researched. Compared with traditional rigid robots, flexible robots have low energy consumption, wide operating space, high carrying capacity and other characteristics. However, due to its special structure, the robot arm will get deformation and vibration in motion, which brings a lot of problems to the positioning and tracking control of flexible space robots. Therefore, directing at the dynamics modeling and control issues of the free-floating flexible dual-arm space robots, this article carries out in-depth study. This paper first studies the elastic deformation and vibration of the flexible space manipulator and the robust control problem of the system trajectory tracking for free-floating flexible dual-arm space robots.

scholarly journals Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4461 ◽  
Author(s):  
Weihai Chen ◽  
Zhongyi Li ◽  
Xiang Cui ◽  
Jianbin Zhang ◽  
Shaoping Bai
Keyword(s):  
Mechanical Design ◽  
Kinematic Model ◽  
Light Weight ◽  
Skeletal System ◽  
Kinematic Modeling ◽  
Modeling And Control ◽  
Arm Rehabilitation ◽  
Human Arm ◽  
Human Limb ◽  
And Control

Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to inaccurate anthropomorphic parameters and flexible attachments. In this paper, the mechanical design of a cable-driven arm rehabilitation exoskeleton is proposed to accommodate human limbs of different sizes and shapes. A novel arm cuff able to adapt to the contours of human upper limbs is designed. This has given rise to an exoskeleton which reduces the uncertainties caused by instabilities between the exoskeleton and the human arm. A kinematic model of the exoskeleton is further developed by considering the inaccuracies of human-arm skeleton kinematics and attachment errors of the exoskeleton. A parameter identification method is used to improve the accuracy of the kinematic model. The developed kinematic model is finally tested with a primary experiment with an exoskeleton prototype.

G1510304 Modeling and Control for realization of yoyo forward-pass trick by robot arm

2014 ◽  
Vol 2014 (0) ◽  
pp. _G1510304--_G1510304-
Author(s):  
Hokuto MIYAKAWA ◽  
Yuta NOGUCHI ◽  
Takuma NEMOTO ◽  
Masaki IZUTU ◽  
Masami IWASE ◽  
...  
Keyword(s):  
Robot Arm ◽  
Modeling And Control ◽  
Forward Pass ◽  
And Control
Sign in / Sign up

Export Citation Format

Share Document