Design and development of an experimental flexible manipulator system

Authors:
M. O. Tokhi;A. K. M. Azad
Affiliations:
Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, Sheffield S1 3JD, UK. E-mail: O.Tokhi@sheffield.ac.uk;Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, Sheffield S1 3JD, UK. E-mail: O.Tokhi@sheffield.ac.uk
Venue:
Robotica
Year:
1997

Citing 4
Cited 3

Experimental evaluation of nonlinear feedback and feedforward control schemes for manipulators

International Journal of Robotics Research
Introduction to Robotics: Mechanics and Control

Introduction to Robotics: Mechanics and Control
Integrated Approach to Robotic Engineering

Integrated Approach to Robotic Engineering
Engineering Instrumentation and Control

Engineering Instrumentation and Control

Designing feedforward command shapers with multi-objective genetic optimisation for vibration control of a single-link flexible manipulator

Engineering Applications of Artificial Intelligence
Hybrid fuzzy logic control with genetic optimisation for a single-link flexible manipulator

Engineering Applications of Artificial Intelligence
Parametric modelling approach using bacterial foraging algorithms for modelling of flexible manipulator systems

Engineering Applications of Artificial Intelligence

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents the design and development of a laboratory facility constituting a constrained planar flexible manipulator system. The system is designed for experimental investigations within research programmes involving flexible manipulator systems. An outline of a generic design procedure for flexible manipulator systems is given. The design criteria developed through this procedure account for the strength and stiffness of the manipulator and the required transducers and instrumentation. These are considered in detail and the system designed accordingly. Finally, practical problems encountered are highlighted and methods of dealing with such problems are presented and discussed.