...Jingli Du; Hong Bao; Chuanzhen Cui; Xuechao Duan This paper addresses modeling and control of a cable-supporting manipulator serving as the feed supporting structure of a large radio telescope. The manipulator consists of six long cables so that their curves must be considered. The end-effector...

...Ramin Masoudi; Mojtaba Mahzoon A free-floating space robot with four linkages, two flexible arms and a rigid end-effector that are mounted on a rigid spacecraft; is studied in this paper. The governing equations are derived using Kane’s method. The powerful tools of Kane’s approach in incorporating...

... neural-fuzzy controller (ANFC) are presented: The former is used to generate desired self-motions in a real-time manner, and the latter is used to prevent the robot from tipping over and to control the end-effector to follow a desired spacial trajectory at the same time. The proposed algorithm does...

... the design synthesis of planar variants of the two candidate designs surmounting a representative obstacle profile while supporting a set of end-effector loads and highlight the key benefits in the presented results. 10 03 2005 22 11 2005 13 11 2004 19 11 2004 legged locomotion...

... contact between mating objects occurs at multiple surface areas in a time-variant fashion. At the same time, the procedure requires only measurements of end-effector forces/moments and the kinematics information for the end-effector and the environment. Similarly to other methods, the solution...

... systems by providing accurate, repeatable control of a small end effector. A 10 × model of a two link surgical manipulator is developed, using antagonistic shape memory alloy wires as actuators, to simulate motions of a surgical end-effector. Artificial neural networks are used in conjunction with real...

... on end effector with the use of data provided by F/T sensors. These external forces and moments are not directly measured by F/T sensor since the quantities measured by F/T sensor are corrupted by the dynamics of the end effector and manipulator (a F/T sensor is usually mounted between wrist and end...

... limit-cycle-free operation and zero steady-state position error. The analysis methods that are introduced are demonstrated in applications to the control of the position of the end-effector of an industrial robot. Contributed by the Dynamic Systems, Measurement, and Control Division...

... for designing piecewise-linear-gain pulse width control laws is introduced. The performance measure and piecewise-linear-gain control law design method are demonstrated in applications to the control of the position of the end-effector of an industrial robot. Yang , S. , and Tomizuka , M. , 1998...

...H. Kazerooni This article describes a new class of end-effectors that can be used with robotic and material handling devices for grabbing and holding deformable objects with undefined shapes such as sacks and bags. These end-effectors can grab and hold filled sacks from any point on the sack...

...M. Benosman; G. Le Vey; L. Lanari; A. De Luca In this work is considered the problem of rest-to-rest motion in a desired pre-fixed time for planar flexible manipulators. We introduce a simple idea permitting the minimization of end-effector residual vibration when reaching a desired angular...