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RISReduction of the End Effector Sensitivity to the Structural Deflections of a Single Flexible Link: Theoretical and Experimental Results
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The fine positioning problem of the gripper of flexible robotic manipulators is addressed in this study. A two-axis cartesian micro-manipulator is implemented to reduce the sensitivity of the ...
Modeling and Control of Transverse and Torsional Vibrations in a Spherical Robotic Manipulator: Theoretical and Experimental Results
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The present work addresses modeling and control issues pertaining to the positioning and orientating of rigid body payloads as they are being manipulated by flexible spherical robotic manipulators. ...
Modeling and Control of Backlash in the Drive Mechanism of a Radially Rotating Compliant Beam
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The exclusion of the dynamic characteristics of indirect drives, from the controller design, has often led to a degraded performance in precision servomechanisms. In this study, the adverse ...
Dynamic Simulation of a Leadscrew Driven Flexible Robot Arm and Controller
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: High performance requirements in robotics have led to the consideration of structural flexibilty in robot arms. This paper employs an assumed modes method to model the flexible motion of the ...