Abstract: For joint tracking control of flexible robots, this paper presents a two-step design of controller: the bandwidth modulation with modal feedback approach. First, we focus on the design of rigid ...

Abstract: A hard contact is an impact that occurs when the robot contacts a stiff environment with a high velocity. In the pretransition phase of the hard contact, it is important to maintain stability ...

Abstract: An efficient algorithm to simulate the workspace for a n-link redundant manipulator with rotating base is developed. The unique feature of the algorithm is its ability to automatically generate ...